Motion control of a spherical mobile robot by feedback linearization

Author

Liu, Daliang ; Sun, Hanxv ; Jia, Qingxuan ; Wang, Liangqing

Author_Institution

Dept. of Automations, Beijing Univ. of Posts & Telecommun., Beijing

fYear

2008

fDate

25-27 June 2008

Firstpage

965

Lastpage

970

Abstract

BYQ-III is a spherical mobile robot. This paper deals with the problem of its simple motion control in a fixed motion mode. The robot BYQ-III is designed to be partially self-contained. A simplified dynamic model of the rotation motion in the median sagital plane is derived under some assumptions. A full-state linear feedback controller for the dynamic model and a PI controller are designed to implement the motion control in the median coronal plane and the sagital plane respectively. The model and the controllers were validated through a set of experiments. Experimental trajectories for a circle of the robot on the plane were found to agree to a reasonable accuracy. The overall design, actuator mechanism, control system, and initial results are presented in this paper.

Keywords

PI control; feedback; linearisation techniques; mobile robots; motion control; BYQ-III robot; PI control; actuator mechanism; feedback linearization; linear feedback control; motion control; spherical mobile robot; Adaptive control; Aerodynamics; Automatic control; Equations; Feedback; Friction; Mobile robots; Motion control; Motion planning; Robotics and automation; Feedback Linearization; Motion Control; Spherical Mobile Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593051

Filename

4593051