Disturbance adaptive control for an underactuated spherical robot based on hierarchical sliding-mode technology
作者： Yue Ming , Liu Baoyin , None
DOI:
关键词: Control theory 、 Suspension (motorcycle) 、 Underactuation 、 Mobile robot 、 Adaptive control 、 Spherical robot 、 Sliding mode control 、 Control theory 、 Engineering 、 Lyapunov stability
摘要: An adaptive hierarchical sliding mode control (AHSMC) scheme is presented for a spherical robot, whose inner suspension in an underactuated state driven by the motor. In this scheme, robot system divided into sphere rolling and subsystems according to movement. Then first layer surface defined each subsystem. Based on surface, second introduced correspondingly. Considering unavoidable disturbance dynamics of unstructured environment, we adopt estimate uncertain disturbance. The method, which can drive subsystems' states approaching their rapidly, obtained using Lyapunov stability theory. simulation results demonstrate controller's validity ability.
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