Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot

Wei Li; Qiang Zhan

doi:10.1007/978-981-13-2396-6_50

Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot

Wei Li
, Qiang Zhan^*

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Spherical mobile robot (spherical robot in short) has remarkable stability, flexible motion as well as significant advantages in the exploration of unmanned environments when compared with traditional mobile robots. However, as a special under-actuated nonholonomic system spherical robot cannot be transformed to the classic chained form and is difficult to control. At present, there has not been a kinematics based trajectory tracking controller which could track both the position states and the attitude states of spherical robot simultaneously. This paper deduced a three states (two position states and one attitude state) trajectory tracking controller using sliding-mode control method and based on the kinematic model of a spherical mobile robot BHQ-1. The jittering on the sliding surface was reduced under the effect of a saturation function in the controller. The effectiveness of the proposed trajectory tracking controller were verified through MATLAB simulations for both a linear trajectory and a circular trajectory.

Original language	English
Title of host publication	Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings
Editors	Shilong Wang, Ming K. Lim, Yuanxin Luo, Rui Chen, Mark Price, Yan Jin
Publisher	Springer Verlag
Pages	540-547
Number of pages	8
ISBN (Print)	9789811323959
DOIs	https://doi.org/10.1007/978-981-13-2396-6_50
State	Published - 2018
Event	1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018 - Chogqing, China Duration: 21 Sep 2018 → 23 Sep 2018

Publication series

Name	Communications in Computer and Information Science
Volume	923
ISSN (Print)	1865-0929

Conference

Conference	1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018
Country/Territory	China
City	Chogqing
Period	21/09/18 → 23/09/18

Keywords

Nonholonomic kinematics
Sliding-mode control
Spherical mobile robot
Trajectory tracking

Access to Document

10.1007/978-981-13-2396-6_50

Cite this

Li, W., & Zhan, Q. (2018). Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot. In S. Wang, M. K. Lim, Y. Luo, R. Chen, M. Price, & Y. Jin (Eds.), Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings (pp. 540-547). (Communications in Computer and Information Science; Vol. 923). Springer Verlag. https://doi.org/10.1007/978-981-13-2396-6_50

Li, Wei ; Zhan, Qiang. / Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot. Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings. editor / Shilong Wang ; Ming K. Lim ; Yuanxin Luo ; Rui Chen ; Mark Price ; Yan Jin. Springer Verlag, 2018. pp. 540-547 (Communications in Computer and Information Science).

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title = "Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot",

abstract = "Spherical mobile robot (spherical robot in short) has remarkable stability, flexible motion as well as significant advantages in the exploration of unmanned environments when compared with traditional mobile robots. However, as a special under-actuated nonholonomic system spherical robot cannot be transformed to the classic chained form and is difficult to control. At present, there has not been a kinematics based trajectory tracking controller which could track both the position states and the attitude states of spherical robot simultaneously. This paper deduced a three states (two position states and one attitude state) trajectory tracking controller using sliding-mode control method and based on the kinematic model of a spherical mobile robot BHQ-1. The jittering on the sliding surface was reduced under the effect of a saturation function in the controller. The effectiveness of the proposed trajectory tracking controller were verified through MATLAB simulations for both a linear trajectory and a circular trajectory.",

keywords = "Nonholonomic kinematics, Sliding-mode control, Spherical mobile robot, Trajectory tracking",

author = "Wei Li and Qiang Zhan",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd 2018.; 1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018 ; Conference date: 21-09-2018 Through 23-09-2018",

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doi = "10.1007/978-981-13-2396-6\_50",

language = "英语",

isbn = "9789811323959",

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editor = "Shilong Wang and Lim, \{Ming K.\} and Yuanxin Luo and Rui Chen and Mark Price and Yan Jin",

booktitle = "Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings",

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Li, W & Zhan, Q 2018, Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot. in S Wang, MK Lim, Y Luo, R Chen, M Price & Y Jin (eds), Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings. Communications in Computer and Information Science, vol. 923, Springer Verlag, pp. 540-547, 1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018, Chogqing, China, 21/09/18. https://doi.org/10.1007/978-981-13-2396-6_50

Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot. / Li, Wei; Zhan, Qiang.
Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings. ed. / Shilong Wang; Ming K. Lim; Yuanxin Luo; Rui Chen; Mark Price; Yan Jin. Springer Verlag, 2018. p. 540-547 (Communications in Computer and Information Science; Vol. 923).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot

AU - Li, Wei

AU - Zhan, Qiang

N1 - Publisher Copyright: © Springer Nature Singapore Pte Ltd 2018.

PY - 2018

Y1 - 2018

N2 - Spherical mobile robot (spherical robot in short) has remarkable stability, flexible motion as well as significant advantages in the exploration of unmanned environments when compared with traditional mobile robots. However, as a special under-actuated nonholonomic system spherical robot cannot be transformed to the classic chained form and is difficult to control. At present, there has not been a kinematics based trajectory tracking controller which could track both the position states and the attitude states of spherical robot simultaneously. This paper deduced a three states (two position states and one attitude state) trajectory tracking controller using sliding-mode control method and based on the kinematic model of a spherical mobile robot BHQ-1. The jittering on the sliding surface was reduced under the effect of a saturation function in the controller. The effectiveness of the proposed trajectory tracking controller were verified through MATLAB simulations for both a linear trajectory and a circular trajectory.

AB - Spherical mobile robot (spherical robot in short) has remarkable stability, flexible motion as well as significant advantages in the exploration of unmanned environments when compared with traditional mobile robots. However, as a special under-actuated nonholonomic system spherical robot cannot be transformed to the classic chained form and is difficult to control. At present, there has not been a kinematics based trajectory tracking controller which could track both the position states and the attitude states of spherical robot simultaneously. This paper deduced a three states (two position states and one attitude state) trajectory tracking controller using sliding-mode control method and based on the kinematic model of a spherical mobile robot BHQ-1. The jittering on the sliding surface was reduced under the effect of a saturation function in the controller. The effectiveness of the proposed trajectory tracking controller were verified through MATLAB simulations for both a linear trajectory and a circular trajectory.

KW - Nonholonomic kinematics

KW - Sliding-mode control

KW - Spherical mobile robot

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/85053898058

U2 - 10.1007/978-981-13-2396-6_50

DO - 10.1007/978-981-13-2396-6_50

M3 - 会议稿件

AN - SCOPUS:85053898058

SN - 9789811323959

T3 - Communications in Computer and Information Science

SP - 540

EP - 547

BT - Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings

A2 - Wang, Shilong

A2 - Lim, Ming K.

A2 - Luo, Yuanxin

A2 - Chen, Rui

A2 - Price, Mark

A2 - Jin, Yan

PB - Springer Verlag

T2 - 1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018

Y2 - 21 September 2018 through 23 September 2018

ER -

Li W, Zhan Q. Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot. In Wang S, Lim MK, Luo Y, Chen R, Price M, Jin Y, editors, Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings. Springer Verlag. 2018. p. 540-547. (Communications in Computer and Information Science). doi: 10.1007/978-981-13-2396-6_50

Kinematics Based Sliding-Mode Control for Trajectory Tracking of a Spherical Mobile Robot

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