Dynamic Modeling and Nonlinear Control of Spherical-wheeled Robot

Xiao-gang RUAN, Xiao-gang RUAN

Abstract


In this paper, a novel self-balancing spherical-wheeled robot is proposed, which can omnidirectional move in plane. Firstly, the mechanical structure of a robot is given. Secondly, the complete dynamic model of the robot system is established by Lagrange equation. Thirdly, A nonlinear PD controller is proposed, and experiments are carried out in MATLAB. The results show that the control strategy can realize the balance control of the robot with good response characteristics and stability.

Keywords


Spherical-wheeled robot, Lagrange equation, Dual loop control, Nonlinear PD control


DOI
10.12783/dtcse/CCNT2018/24694

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