Version 1
: Received: 20 July 2023 / Approved: 20 July 2023 / Online: 21 July 2023 (07:58:38 CEST)
How to cite:
Lee, H.; Park, B.S.; Hyun, C. Kinematic Model based Control of Spherical Mobile Robot with Under-Actuated System. Preprints2023, 2023071437. https://doi.org/10.20944/preprints202307.1437.v1
Lee, H.; Park, B.S.; Hyun, C. Kinematic Model based Control of Spherical Mobile Robot with Under-Actuated System. Preprints 2023, 2023071437. https://doi.org/10.20944/preprints202307.1437.v1
Lee, H.; Park, B.S.; Hyun, C. Kinematic Model based Control of Spherical Mobile Robot with Under-Actuated System. Preprints2023, 2023071437. https://doi.org/10.20944/preprints202307.1437.v1
APA Style
Lee, H., Park, B.S., & Hyun, C. (2023). Kinematic Model based Control of Spherical Mobile Robot with Under-Actuated System. Preprints. https://doi.org/10.20944/preprints202307.1437.v1
Chicago/Turabian Style
Lee, H., Bong Seok Park and Chang-Ho Hyun. 2023 "Kinematic Model based Control of Spherical Mobile Robot with Under-Actuated System" Preprints. https://doi.org/10.20944/preprints202307.1437.v1
Abstract
This paper introduces an alternative method to design the path following controller of an under-actuated spherical mobile robot, which has a single pendulum structure its inside as a driving mechanism. The mechanism has an under-actuated problem; two inputs for the roll and pitch but no direct input for the yaw. In order to overcome this problem, the proposed method defines a virtual reference input for the heading direction. The virtual reference input works as a control input since it can be arbitrarily designed just like the reference input of a conventional system. The control scheme using the defined virtual reference input achieves the stabilization and path following control of the under-actuated spherical mobile robot without any additional control technique. The stability of the proposed control scheme is guaranteed by Lyapunov stability analysis, and simulation results are given to demonstrate its performance.
Keywords
Spherical Mobile Robot; Kinematics; Under-Actuated; Virtual Reference Input
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
