Disturbance adaptive control for an underactuated spherical robot based on hierarchical sliding-mode technology
An adaptive hierarchical sliding mode control (AHSMC) scheme is presented for a spherical robot, whose inner suspension is in an underactuated state driven by the motor. In this scheme, the underactuated spherical robot system is divided into sphere rolling and inner suspension subsystems according to the movement. Then a first layer sliding surface is defined for each subsystem. Based on the first layer sliding surface, a second layer surface is introduced correspondingly. Considering the unavoidable disturbance and the dynamics of the unstructured environment, we adopt an adaptive control scheme to estimate the uncertain disturbance. The adaptive control method, which can drive the subsystems’ states approaching to their sliding surface rapidly, is obtained by using Lyapunov stability theory. The simulation results demonstrate the controller’s validity and adaptive ability.
Spherical robot underactuated adaptive control hierarchical sliding-mode
YUE Ming LIU Baoyin
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. Ch of Automotive Engineering, Dalian University of Technology, Dalian 116024, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4787-4791
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）