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Fast Regulation of the Rolling Sphere: A Motion Planning Approach

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2 Author(s)
Ti-Chung Lee ; Dept. of Electr. Eng., Minghsin Univ. of Sci. & Technol., Hsinchu ; Lin, Shir-Kuan

This paper presents a simple stabilizing control scheme for the rolling sphere. A tracking control problem with respect to a "virtual moving trajectory" is first solved. Then, it is used to achieve practical stability for the regulation problem. The derived controllers have a simple form and can guarantee fast convergence. To verify the effectiveness of the proposed results, an interesting simulation result is presented.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007