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2013 (Vol. 5, Issue: 06)
Article Information:

Stabilization and Control of a Spherical Robot on an Inclined Plane

Tao Yu, Hanxu Sun, Qingxuan Jia, Yanheng Zhang and Wei Zhao
Corresponding Author:  Tao Yu 

Key words:  Inclined plane, nonholonomic constraint, sliding mode control, spherical robot, trajectory tracking, ,
Vol. 5 , (06): 2289-2296
Submitted Accepted Published
July 31, 2012 September 03, 2012 February 21, 2013

In this study, the dynamics and control aspects of a spherical robot rolling without slipping on an inclined plane are investigated. The planar dynamic model of the robot rolling ahead on an inclined plane is derived using Lagrangian dynamics. Based on the equivalent control method and Lyapunov stability theorem, a decoupled sliding mode control approach is presented for stable control of the planar motion. Utilizing the constrained Lagrange method the three-dimensional dynamics of the robot rolling on an inclined plane are deduced. Based on input-output feedback linearization, we develop a trajectory tracking control algorithm for the three-dimensional motion of the robot. The validity of the proposed controllers is demonstrated through numerical simulations.
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  Cite this Reference:
Tao Yu, Hanxu Sun, Qingxuan Jia, Yanheng Zhang and Wei Zhao, 2013. Stabilization and Control of a Spherical Robot on an Inclined Plane.  Research Journal of Applied Sciences, Engineering and Technology, 5(06): 2289-2296.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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