Constant speed VSC of a spherical robot driven by Omni wheels

Author

Wang, Chi-hua ; Lin, Yu-hsiang ; Huang, Kun-shu ; Lee, Bore-kuen ; Lin, Kuo-bin ; Hwang, Chi-kuang

Author_Institution

Dept. of Electr. Eng., Chung Hua Univ., Hsinchu, Taiwan

Volume

3

fYear

2011

fDate

10-13 July 2011

Firstpage

1214

Lastpage

1219

Abstract

This paper mainly outlines the model of the invented spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived based on Euler Lagrange approach. Therefore, based on the derived model, the variable structure control (VSC) is presented in which the sliding mode control (SMC) is adopted to achieve a constant speed at a vertical balance altitude. Simulations of the proposed control algorithm have been conducted based on two pre-determined sliding surfaces with adjustable parameters to discuss the effective time to enter the sliding surface and the convergence.

Keywords

mobile robots; robot dynamics; variable structure systems; Euler Lagrange approach; adjustable parameters; constant speed VSC; control algorithm; convergence; dynamical model; omni wheels; pre-determined sliding surfaces; sliding mode control; spherical robot; spherical wheel; variable structure control; vertical balance altitude; Control systems; Cybernetics; Machine learning; Mathematical model; Mobile robots; Wheels; Omni wheels; Sliding surface control; Spherical robot; Variable Structure Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics (ICMLC), 2011 International Conference on

Conference_Location

Guilin

ISSN

2160-133X

Print_ISBN

978-1-4577-0305-8

Type

conf

DOI

10.1109/ICMLC.2011.6016886

Filename

6016886