In this paper, a controller is designed to achieve tracking of a pendulum-driven spherical robot about a desired trajectory in the presence of model uncertainty and external disturbances. A methodology is proposed to design a feedforward controller for the spherical robot by approximating the desired trajectory using circles as basis functions. A linear state-feedback controller is used to drive the perturbations from the desired trajectory to zero. Numerical simulations show that the controller realizes tracking of the desired trajectory with perturbed initial conditions.
Volume Subject Area:
Control of Robotic Systems
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