Multi-terrain velocity control of the spherical robot by online obtaining the uncertainties in the dynamics
One controller cannot work on multiple and unknown terrains in the velocity control of the
spherical robot, because the dynamic models of the robot vary on different terrains, and …
spherical robot, because the dynamic models of the robot vary on different terrains, and …
Direction and trajectory tracking control for nonholonomic spherical robot by combining sliding mode controller and model prediction controller
A spherical robot is a nonlinear, nonholonomic, and unstable system which increases the
difficulty of the direction and trajectory tracking problem. In this study, we propose a new …
difficulty of the direction and trajectory tracking problem. In this study, we propose a new …
Robust servo linear quadratic regulator controller based on state compensation and velocity feedforward of the spherical robot: Theory and experimental verification
There are few studies on the lateral motion of spherical robots. In this article, a new
algorithm is proposed to solve the problem of low control accuracy of the lateral motion. A …
algorithm is proposed to solve the problem of low control accuracy of the lateral motion. A …
A comprehensive review of driving mechanisms in amphibian spherical robots
A spherical robot is based on the rolling concept inspired by the pangolins. This mode of
locomotion is faster and safer as its spherical body becomes a protective shield. The …
locomotion is faster and safer as its spherical body becomes a protective shield. The …
Optimizing PD-type Fuzzy Logic Controller for Position Control of Spherical Robot
NN Kamis, AH Embong… - 2019 7th International …, 2019 - ieeexplore.ieee.org
Spherical robot has several advantages compared to another type of mobile robot that can
be used in many applications. Controlling a rolling mechanism for this nonlinear system is …
be used in many applications. Controlling a rolling mechanism for this nonlinear system is …