Kinematic Model-based Integral Sliding Mode Control for a Spherical Robot

Hoang Quoc Dong, Soon Geul Lee, Chaehyeuk Lee, Ihn Sik Weon, Yeon Jun Kim, Soo Ho Woo, Pham Dinh Ba, Jaehwan Choi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

Spherical rolling robots are an interesting topic for both control theory and robotic applications. This type of mobile robot shows plenty of outstanding advantageous properties which have been increasingly attracting researchers. Several platform versions of the spherical robot have been developing for these decades. In this paper, a design of a two-wheeled spherical robot attached a counter mass inside is presented along with its kinematic model. To maintain stable posture while the robot is moving, it is necessary to handle the uncertainties and disturbances that arise from changes of surface and friction conditions. A robust integral sliding mode controller, which focuses on the rolling motion control of the robot, is developed based on the established kinematic model. The designed closed-loop controller guarantees the accurate motion of the robot with maintenance of small angles of the main body and the outer shell. Experiment results are provided to investigate the efficiency of the entire operation.

Original languageEnglish
Title of host publicationICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages635-640
Number of pages6
ISBN (Electronic)9788993215182
DOIs
Publication statusPublished - Oct 2019
Event19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of
Duration: 15 Oct 201918 Oct 2019

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2019-October
ISSN (Print)1598-7833

Conference

Conference19th International Conference on Control, Automation and Systems, ICCAS 2019
Country/TerritoryKorea, Republic of
CityJeju
Period15/10/1918/10/19

Bibliographical note

Publisher Copyright:
© 2019 Institute of Control, Robotics and Systems - ICROS.

Keywords

  • Spherical rolling robot
  • ball robot
  • integral sliding model control

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