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论文类型：期刊论文

发表时间：2012-03-01

发表刊物：JOURNAL OF VIBROENGINEERING

收录刊物：SCIE、EI、Scopus

卷号：14

期号：1

页面范围：196-204

ISSN号：1392-8716

关键字：spherical robot; MR fluid actuator; sliding mode control; adaptive

摘要：Inner suspension platform of a spherical robot undergoes dynamic oscillation process when the robot is rolling ahead, which significantly reduces stability and precision of the motion. To suppress these vibrations, this study considers an adaptive sliding mode control method for a spherical robot based on application of magnetorheological (MR) fluid actuator. After analyzing the mechanical structure of the spherical robot, a dynamic model describing its rolling motion is derived. Considering the uncertainty of the disturbances introduced by modeling error and outside perturbation, an adaptive scheme is proposed to estimate the dynamic disturbances. Sliding mode technology is applied to construct system controller characterized by robustness and parameter insensibility. Simulations are performed in order to verify the effectiveness of the proposed control methods.