| 一种非链式非完整球形机器人的反步轨迹跟踪控制器(英文) |
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| 作者单位： | 北京航空航天大学机器人研究所 |
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| 基金项目： | Foundation items： National Natural Science Foundation of China （50705003）; National High Technology Research and Development Program of China （2007AA04Z252）. |
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| 摘 要： | Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.
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| 关 键 词： | 球面移动机器人 轨迹跟踪控制 反馈分级 自动控制 |
| 收稿时间： | 2008-05-27 |
A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot |
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| Zhan Qiang,Liu Zengbo,Cai Yao. A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot[J]. Chinese Journal of Aeronautics, 2008, 21(5): 472-480. DOI: 10.1016/S1000-9361(08)60061-8 |
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| Authors: | Zhan Qiang Liu Zengbo Cai Yao |
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| Affiliation: | Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the con-troller the robot can globally and asymptotically track desired trajectories, both linear and circular. |
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| Keywords: | spherical mobile robot trajectory tracking control back-stepping Lyapunov function |
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