Robust speed control of a spherical robot using ARX uncertain modeling | IEEE Conference Publication | IEEE Xplore

Robust speed control of a spherical robot using ARX uncertain modeling


Abstract:

Navigation of spherical robots with constant speed along a straight or curved path is investigated in this paper. A spherical robot driven by motors with constant speed w...Show More

Abstract:

Navigation of spherical robots with constant speed along a straight or curved path is investigated in this paper. A spherical robot driven by motors with constant speed will not necessarily move with constant linear speed. To overcome this problem, one must find a specific velocity function as the motors input which yields a constant linear speed for the robot. The nonlinearity which hides in the dynamics of the robot makes it behave differently at different motor (input) velocities. Therefore, a robust controller is needed to grant desirable performance at different speeds. Here, using ARX (Auto-Regressive Exogenous) modeling the uncertainties are modeled in order to design a robust controller. The models have been verified by experiments. Simulations performed on the controlled system support the proposed design.
Date of Conference: 17-18 September 2011
Date Added to IEEE Xplore: 24 October 2011
ISBN Information:
Conference Location: Montreal, QC
School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran
School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran
School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran

School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran
School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran
School of Mechanical Engineering, Center of Mechatronics and Automation, University of Tehran, Tehran, Iran

References

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