Adaptive control of an underactuated spherical robot with a dynamic stable equilibrium point using hierarchical sliding mode approach. (English) Zbl 1332.93186
Summary: Unlike the traditional underactuated mechanical system, the equilibrium point of the inner swing-up suspension of a spherical robot possesses stable and dynamic characteristics. The stable dynamic equilibrium position of the underactuated suspension must agree well with the uncertain rolling resistance in practice. To overcome this special underactuated problem with dynamic equilibrium, we present an adaptive control scheme to enhance the ground adaptability using hierarchical sliding mode approach. The control method can drive the spherical robot to a desired position, and at the same time, the suspension subsystem holds on their dynamic equilibrium points rapidly. The proposed control approaches are verified to be effective by numerical simulation for a spherical robot to achieve satisfactory control performances, such as ground adaptability, rapid convergence, and disturbance rejection.
MSC:
| 93C40 | Adaptive control/observation systems |
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93B12 | Variable structure systems |
References:
| [1] | LeeJJ. Robust adaptive control of an underactuated free‐flying space robot under a non‐holonomic structure in joint space. International Journal of Systems Science1996; 27(11):1113-1121. · Zbl 0867.93060 |
| [2] | SankaranarayananV, MahindrakarAD. Control of a class of underactuated mechanical systems using sliding modes. IEEE Transactions on Robotics2009; 25(2):459-467. |
| [3] | QianD, YiJ, ZhaoD. Hierarchical sliding mode control to swing up a pendubot. American Control Conference, New York, United States, 2007; 5254-5259. |
| [4] | WangW, YiJ, ZhaoD, LiuD. Hierarchical sliding‐mode control method for overhead cranes. Acta Automatica Sinica2004; 30(5):784-788. |
| [5] | KangH, SunHX, JiaQX, ZhangYH. The design of the spherical robot autonomous gps‐based positioning and navigation system. International Conference on Intelligent System Design and Engineering Application, Changsha, China, 2011; 626-630. |
| [6] | ZhaoB, WangPF, HuHY, SunLN. Design of a spherical robot based on novel double ballast masses principle. High Technology Letters2011; 17(2):180-185. |
| [7] | ZhanQ, LiuZB, CaiY. A back‐stepping based trajectory tracking controller for a non‐chained nonholonomic spherical robot. Chinese Journal of Aeronautics2008; 21(5):472-480. |
| [8] | LiTJ, LiuWQ. Design and analysis of a wind‐driven spherical robot with multiple shapes for environment exploration. Journal of Aerospace Engineering2011; 24(1):135-139. |
| [9] | YueM, DengZ, YuX, YuW. Introducing hit spherical robot: dynamic modeling and analysis based on decoupled subsystem. IEEE International Conference on Robotics and Biomimetics, Kunming, China, 2006; 181-186. |
| [10] | WangZ, GuoY. Unified control for pendubot at four equilibrium points. IET Control Theory and Applications2009; 5(1):155-163. |
| [11] | QianD, YiJQ, LiuXJ. A robust sliding mode controller based on RBF neural networks for overhead crane systems with uncertain dynamics. ICIC Express Letters2011; 5(6):1995-2000. |
| [12] | LinCM, MonYJ. Decoupling control by hierarchical fuzzy sliding‐mode controller. IEEE Transaction on Control Systems Technology2005; 13(4):593-598. |
| [13] | QianDW, YiJQ, LiuXJ, YangGT, WangMX. Robust control by sliding mode for a class of uncertain underactuated systems with saturation. Control and Intelligent Systems2010; 38(2):87-94. · Zbl 1200.93031 |
| [14] | QianDW, LiuXJ, YiJQ. Robust sliding mode control for a class of underactuated systems with mismatched uncertainties. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering2009; 223(6):785-795. |
| [15] | YueM, SunW, HuP. Sliding mode robust control for two‐wheeled mobile robot with lower center of gravity. International Journal of Innovative Computing, Information and Control2011; 7(2):637-646. |
| [16] | YueM, HuP, SunW. Path following of a class of non‐holonomic mobile robot with underactuated vehicle body. IET Control Theory and Applications2009; 4(10):1898-1904. |
| [17] | HuQ, MaG, XieL. Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity. Automatica2008; 44(2):552-559. · Zbl 1283.93063 |
| [18] | YueM, LiuBY. Design of adaptive sliding mode control for spherical robot based on MR fluid actuator. Journal of Vibroengineering2012; 14(1):196-204. |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
