Dynamics and Trajectory Tracking of a Spherical Mobile Robot on an Inclined Plane

摘要：

In this paper, we derive a dynamic model of the spherical mobile robot, named BYQ-Ⅲ, rolling without slipping on an inclined plane using the constrained Lagrangt method. Using the input-outpul feedback linearization approach we develop a control algorithm Tor stabilizing the robot to track a desired trajectory based on the derived dynamic model. The feasibility and efficiency of the control scheme an then validated through simulation study.

关键词： spherical robot inclined plane Lagrange method trajectory tracking nonholonotnic constraints

作者: Yu Tao Sun Hanxu Jia Qingxuan

作者单位: School of Automation, Beijing University of Posls and Telecommunications Beijing, China, 100876

会议类型: 国际会议

会议名称: 2010 International Conference on Information Security and Artificial Intelligence(2010年信息安全与人工智能国际会议 ISAI 2010)

会议地点: 成都

会议语种:英文

页码: 1422-1426

在线出版日期: 2010-12-17（万方平台首次上网日期，不代表论文的发表时间）