@inproceedings{b93536f529974a9aab5768dad258453a,
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",
year = "2018",
doi = "10.1007/978-981-13-2396-6\_50",
language = "英语",
isbn = "9789811323959",
series = "Communications in Computer and Information Science",
publisher = "Springer Verlag",
pages = "540--547",
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",
address = "德国",
}