پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شمارهها | 435 |
| تعداد مقالات | 5,634 |
| تعداد مشاهده مقاله | 7,427,963 |
| تعداد دریافت فایل اصل مقاله | 6,216,007 |
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 5، دوره 47، شماره 2، اسفند 2015، صفحه 45-56 اصل مقاله (1.13 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2015.569 | ||
| نویسندگان | ||
| Jafar Keighobadi* ؛ Mahmood Reza Azizi | ||
| Faculty of mechanical engineering, University of Tabriz, Tabriz, Iran | ||
| چکیده | ||
| Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representation of the system is developed using dynamical equations of the robot’s motion. As the main contribution, a dynamical model based SMC (sliding mode controller) is designed for position and attitude control of the robot under parameters uncertainty and unmodeled dynamics. To decrease the chattering phenomena originated by the sign function, the well-known boundary layer technique is imposed on the SMC. The control gains are determined through using Lyapunov’s direct method in such a way that the robustness and to zero convergence of the controller’s tracking error are guaranteed. Computer simulations are performed to show the significant tracking performance of the proposed SMC in particular against parameters uncertainty and white Gaussian noises. The simulation results show the significant performance of the designed nonlinear control system in trajectory tracking control as well as in attitude control of the spherical robot even in the presence of parameters uncertainty and measurement noises. | ||
| کلیدواژهها | ||
| Spherical robot؛ Nonholonomic System؛ sliding mode control؛ Boundary Layer؛ Parameters’ uncertainty | ||
| عنوان مقاله [English] | ||
| Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot | ||
| نویسندگان [English] | ||
| Jafar Keighobadi؛ Mahmood Reza Azizi | ||
| Faculty of mechanical engineering, University of Tabriz, Tabriz, Iran | ||
| چکیده [English] | ||
| Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representation of the system is developed using dynamical equations of the robot’s motion. As the main contribution, a dynamical model based SMC (sliding mode controller) is designed for position and attitude control of the robot under parameters uncertainty and unmodeled dynamics. To decrease the chattering phenomena originated by the sign function, the well-known boundary layer technique is imposed on the SMC. The control gains are determined through using Lyapunov’s direct method in such a way that the robustness and to zero convergence of the controller’s tracking error are guaranteed. Computer simulations are performed to show the significant tracking performance of the proposed SMC in particular against parameters uncertainty and white Gaussian noises. The simulation results show the significant performance of the designed nonlinear control system in trajectory tracking control as well as in attitude control of the spherical robot even in the presence of parameters uncertainty and measurement noises. | ||
| کلیدواژهها [English] | ||
| Spherical robot, Nonholonomic System, sliding mode control, Boundary Layer, Parameters’ uncertainty | ||
| مراجع | ||
|
[1] J. Suomela, T. Ylikorpi, "Ball shaped robots: An historical overview and recent," Field and Service Robotics, vol. 25, no. 6, pp. 343– 354, 2006. [2] A. Bicchi, A. Balluchi, D. Prattichizzo, A. Gorelli, "ntroducing the “SPHERICLE”: an experimental testbed for research and teaching in nonholonomy," in IEEE International Conference on Robotics and Automation, 1997. [3] A. Halme, T. Schönberg, Y. Wang, "Motion control of a spherical mobile robot," in International Workshop on Advanced Motion Control (AMC), 1996. [4] A.H. Javadi, P. Mojabi, "Introducing august: a novel strategy for an omnidirectional spherical rolling robot," in IEEE International Conference on Robotics and Automation, 2002. [5] Q. Zhan, T. Zhou, M. Chen, S. Cai, "Dynamic trajectory planning of a spherical mobile robot," in IEEE International Conference on Robotics, Automation & Mechatronics (RAM), 2006. [6] S. Bhattacharya, S.K. Agrawal, "Spherical rolling robot: A design and motion planning studies," in IEEE Transactions on Robotics and Automation, 2000. [7] T. Otani, T. Urakubo, S. Maekawa, H. Tamaki, Y. Tada, "Position and Attitude Control of a Spherical Rolling Robot Equipped with a Gyro," in IEEE International Workshop on Advanced Motion Control (AMC), 2006. [8] M.R. Azizi, D. Naderi, "Dynamic Modeling and Trajectory Planning for a Mobile Spherical Robot with a 3DOF Inner Mechanism," Mechanism and Machine theory, vol. 64, pp. 251-261, 2013. [9] R.W. Brockett, in Brockett, R.W., Milman, R.S., Sussmann, H.J. (Eds.), Asymptotic stability and feedback stabilization, Boston, Dzflerential, pp. 181-191, 1983. [10] B. Zhao, M. Li, H. Yu, H. Hu, L. Sun, "Dynamics and motion control of a two pendulums driven spherical robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [11] D. Liu, H. Sun, Q. Jia, "A family of spherical mobile robot: Driving ahead motion control by feedback linearization," in IEEE International Symposium on Systems and Control in Aerospace and Astronautics (ISSCAA), 2008. [12] B. Liu, M. Yue, R. Liu, "Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation," in IEEE International Conference on Mechatronics and Automation (ICMA), 2012. [13] M. Yue, B. Liu, "Adaptive control of an underactuated spherical robot with a dynamic stable equilibrium point using hierarchical sliding mode approach," International journal of adaptive control and signal processing, vol. DOI: 10.1002/acs.2413, 2013. [14] E. Kayacan, E. Kayacan, H. Ramon, W. Saeys, "Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm," IEEE TRANSACTIONS ON CYBERNETICS, vol. 43, no. 1, pp. 170-179, 2013. [15] Y. Cai, Q. Zhan, C. Yan, "Two-state trajectory tracking control of a spherical robot using neurodynamics," Robotica, vol. 30, no. 2, pp. 195-203, 2012. [16] D. Liu, H. Sun, Q. Jia, "Stabilization and path following of a spherical robot," in IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2008. [17] E. Kayacan, Z.Y. Bayraktaroglu, W. Saeys, "Modeling and control of a spherical rolling robot: a decoupled dynamics approach," Robotica, vol. 30, no. 4, pp. 671-680, 2012. [18] Y. Cai, Q. Zhan, X. Xi, "Path tracking control of a spherical mobile robot," Mechanism and Machine Theory, vol. 51, pp. 58- 73, 2012. [19] Q. Zhan, Z. Liu, Y. Cai, "A back-stepping based trajectory tracking controller for a non-chained nonholonomic spherical robot," Chinese Journal of Aeronautics, vol. 21, no. 5, pp. 472-480, 2008. [20] M. Zheng, Q. Zhan, J. Liu, Y. Cai, "Control of a spherical robot: Path following based on nonholonomic kinematics and dynamics," Chinese Journal of Aeronautics, vol. 24, no. 3, pp. 337-345, 2011. [21] M. Svinin, A. Morinaga, M. Yamamoto, "On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors," Regular and Chaotic Dynamics, vol. 18, no. 1-2, pp. 126-143, 2013. [22] J. Keighobadi, Y. Mohamadi, "Fuzzy Robust Trajectory Tracking Control of WMRs," in S. I. Ao, O. Castillo, X. Huang, Eds., Intelligent Control and Innovative Computing, Singapore, Springer, 2012, pp. 77-90. | ||
|
آمار تعداد مشاهده مقاله: 1,780 تعداد دریافت فایل اصل مقاله: 2,545 |
||