A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot
نویسندگان
چکیده
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
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 representatio...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
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 representatio...
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15 صفحه اولRobust Sliding Mode Trajectory Tracking Controller for a Nonholonomic Spherical Mobile Robot
Based on dynamical modeling, robust trajectory tracking control of a spherical mobile robot is proposed. 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 dyn...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
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 representatio...
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ژورنال
عنوان ژورنال: Chinese Journal of Aeronautics
سال: 2008
ISSN: 1000-9361
DOI: 10.1016/s1000-9361(08)60061-8