Design of adaptive sliding mode control for spherical robot based on MR fluid actuator

Inner suspension platform of a spherical robot und ergoes dynamic oscillation process when the robot is rolling ahead, which significantl y reduces stability and precision of the motion. To suppress these vibrations, this study co nsiders an adaptive sliding mode control method for a spherical robot based on application o f magnetorheological (MR) fluid actuator. After analyzing the mechanical structure of the sph erical robot, a dynamic model describing its rolling motion is derived. Considering the uncertai n y of the disturbances introduced by modeling error and outside perturbation, an adaptiv e scheme is proposed to estimate the dynamic disturbances. Sliding mode technology is ap plied to construct system controller characterized by robustness and parameter insensibi lity. Simulations are performed in order to verify the effectiveness of the proposed control me thods.

[1]  Yue Ming.  Stabilized Platform Control in the Spherical Robot Based on Coordinate Transformation , 2009 .

[2]  Ping Hu,et al.  SLIDING MODE ROBUST CONTROL FOR TWO-WHEELED MOBILE ROBOT WITH LOWER CENTER OF GRAVITY , 2011 .

[3]  Wang,et al.  Design of a spherical robot based on novel double ballast masses principle , 2011 .

[4]  Zhao Jie.  Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control , 2010 .

[5]  Weihua Li,et al.  Development of an MR-brake-based haptic device , 2006 .

[6]  Myeong-Kwan Park,et al.  Performance Improvement of a Rotary MR Fluid Actuator Based on Electromagnetic Design , 2008 .

[7]  Lihua Xie,et al.  Robust and adaptive variable structure output feedback control of uncertain systems with input nonlinearity , 2008, Autom..

[8]  Yan Wang,et al.  Motion control of a spherical mobile robot , 1996, Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE.

[9]  Z. Qiang,et al.  A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot , 2008 .

[10]  Yue Ming,et al.  Introducing HIT Spherical Robot: Dynamic Modeling and Analysis Based on Decoupled Subsystem , 2006, ROBIO.

[11]  Qinglei Hu,et al.  Robust Fault Tolerant Control for Spacecraft Attitude Stabilization Under Actuator Faults and Bounded Disturbance , 2011 .

[12]  Jie Zhang,et al.  Motion control of mobile under-actuated manipulators by implicit function using support vector machines , 2010 .

[13]  Tuanjie Li,et al.  Design and Analysis of a Wind-Driven Spherical Robot with Multiple Shapes for Environment Exploration , 2011 .

[14]  Qingxuan Jia,et al.  The Design of the Spherical Robot Autonomous GPS-Based Positioning and Navigation System , 2010, 2010 International Conference on Intelligent System Design and Engineering Application.

[15]  Sun Hanxu,et al.  The Design and Analysis of A Spherical Mobile Robot , 2004 .

[16]  B Xiao,et al.  Adaptive quaternion-based output feedback control for flexible spacecraft attitude tracking with input constraints , 2011 .

[17]  Wei Sun,et al.  Path following of a class of non-holonomic mobile robot with underactuated vehicle body , 2010 .