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Design and validation of a novel adaptive motion control for a pendulum spherical robot

Published online by Cambridge University Press:  16 March 2023

Jianwen Huo Open the ORCID record for Jianwen Huo [Opens in a new window] ,
Rui Lin  and
Maotao Yang
Jianwen Huo*
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
Rui Lin
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
Maotao Yang
Affiliation:
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
*
*Corresponding author. E-mail: huojianwen2008@hotmail.com
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Abstract

Spherical robots (SRs) have the characteristics of nonholonomic constraints, underactuation, nonchain, and strong coupling, which increase the difficulty of modeling and motion control compared with traditional robots. In this study, we develop an adaptive motion control scheme for a nonholonomic SR, in which an omnidirectional dynamic model is carried out by using the Euler–Lagrange method to describe the omnidirectional motion of the SR more accurately. Furthermore, to facilitate the design of the motion controller, the dynamic model is simplified to obtain the state space expression of the SR. Aiming at the problem of poor control effect caused by the change of system model parameters which are influenced by dynamic model reduction, an adaptive motion control law of SR is designed based on MRAC. And the coefficient adjustment of the controller is obtained by the Lyapunov method, with the guaranteed stability of the closed-loop system. Finally, the controller designed in this thesis is compared with four controllers including linear quadratic regulator, Fuzzy PID, PSO-ADRC, and hierarchical SMC. The experimental comparison proves that the control scheme proposed in this study still has good control ability when the motion parameters are disturbed.

Keywords

spherical robotdynamic modelstate spacemotion controllerself-adaptationLyapunov method
Type
Research Article
Information
Robotica , Volume 41 , Issue 7 , July 2023 , pp. 2031 - 2049
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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