[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content
Springer Nature Link
Log in

New Riccati Velocity Controller of the Spherical Robot

  • Short Paper
  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

For the spherical robot, an efficient and precise velocity controller suitable for different terrains is crucial. In this paper, a new Riccati controller with feedforward compensation based on Kalman observer (FKO-Riccati controller) with better control performance and stronger robustness is proposed for velocity control of the spherical robot. An accurate dynamic model of the robot is established. Based on the model, a Riccati controller with velocity tracking performance and a Kalman velocity observer are proposed, and the output is feedforward compensated. To verify the effectiveness of the proposed controller, a series of experiments were conducted using a spherical robot named Rotunbot. The simulations and experimental results show that no matter what terrain the robot was in, compared with the traditional PID controller, the FKO-Riccati controller had better control performance and stronger robustness, whether it was going straight or turning.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Halme, A., Schonberg, T., Yan, W.: Motion Control of a Spherical Mobile Robot. In: Advanced Motion Control, 1996. AMC ’96-MIE. Proceedings., 1996 4th International Workshop on (1996)

  2. Zhang, Z., Wan, Y., Wang, Y., Guan, X., Ren, W., Li, G.: Improved Hybrid a* Path Planning Method for Spherical Mobile Robot Based on Pendulum. Int. J. Adv. Robot. Syst. 18(1), 1729881421992958 (2021)

  3. Bicchi, A., Balluchi, A., Prattichizzo, D., Gorelli, A.: Introducing the “Sphericle”: an Experimental Testbed for Research and Teaching in Nonholonomy. In: Proceedings of International Conference on Robotics and Automation, vol. 3, pp. 2620–2625. IEEE (1997)

  4. Amir, H., Mojabi, P.: Introducing August: a Novel Strategy For an Omnidirectional Spherical Rolling Robot. In: IEEE International Conference on Robotics & Automation (2004)

  5. Ma, L., Sun, H., Song, J.: Fractional-Order Adaptive Integral Hierarchical Sliding Mode Control Method for High-Speed Linear Motion of Spherical Robot. IEEE Access PP(99), 1–1 (2020)

  6. Liu, Y., Wang, Y., Guan, X., Wang, Y., Jin, S., Hu, T., Ren, W., Hao, J., Zhang, J., Li, G.: Multi-Terrain Velocity Control of the Spherical Robot by Online Obtaining the Uncertainties in the Dynamics. IEEE Robot. Autom. Lett. 7(2), 2732–2739 (2022). https://doi.org/10.1109/LRA.2022.3141210

    Article  Google Scholar 

  7. Michaud, F.C., Caron, S.: Roball an Autonomous Toy-Rolling Robot. In: Proc of the Workshop on Interactive Robotics & Entertainment (2000)

  8. Chen, S.B., Beigi, A., Yousefpour, A., Rajaee, F., Chu, Y.: Recurrent Neural Network-Based Robust Nonsingular Sliding Mode Control with Input Saturation for a Non-Holonomic Spherical Robot. IEEE Access 8, 188441–188453 (2020)

  9. Roozegar, M., Mahjoob, M., Jahromi, M.: Optimal Motion Planning And Control of a Nonholonomic Spherical Robot Using Dynamic Programming Approach: Simulation and Experimental Results. Mechatronics 39, 174–184 (2016)

  10. Azizi, M.R., Keighobadi, J.: Robust Sliding Mode Trajectory Tracking Controller for a Nonholonomic Spherical Mobile Robot. IFAC Proc. Vol. 47(3), 4541–4546 (2014)

  11. Liu, D., Sun, H., Jia, Q.: A Family of Spherical Mobile Robot: Driving Ahead Motion Control by Feedback Linearization. In: Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on (2008)

  12. Zihao, S., Bin, W., Ting, Z.: Trajectory Tracking Control of a Spherical Robot Based on Adaptive Pid Algorithm. In: 2019 Chinese Control And Decision Conference (CCDC), pp. 5171–5175. IEEE (2019)

  13. Wang, Y., Guan, X., Hu, T., Zhang, Z., Wang, Y., Wang, Z., Liu, Y., Li, G.: Fuzzy Pid Controller Based on Yaw Angle Prediction of a Spherical Robot. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3242–3247. (2021). https://doi.org/10.1109/IROS51168.2021.9636425

  14. Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Velocity Control of a Spherical Rolling Robot Using a Grey-Pid Type Fuzzy Controller With an Adaptive Step Size. IFAC Proc. 45(22), 863–868 (2012)

    Article  Google Scholar 

  15. Ma, Z., Sun, G., Cheng, Z., Li, Z.: Linear Motor Motion Control Using Fractional Order Sliding Mode Controller With Friction Compensation. In 2017 36th Chinese Control Conference (CCC). (2017)

  16. Ma, Z., Zhu, Z.H., Sun, G.: Fractional-Order Sliding Mode Control for Deployment of Tethered Spacecraft System. Proc. Inst. Mech. Eng. G J. Aerosp. Eng. 233(13) (2019). https://doi.org/10.1177/0954410019830030

  17. Yue, M., Liu, B., Wei, X., Hu, P.: Adaptive sliding-mode control of spherical robot with estimated rolling resistance. Cybern. Syst. 45(5), 407–417 (2014)

    Article  Google Scholar 

  18. Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Adaptive Neuro-Fuzzy Control of a Spherical Rolling Robot Using Sliding-Mode-Control-Theory-Based Online Learning Algorithm. IEEE Trans. Cybern. 43(1), 170–179 (2012)

    Article  Google Scholar 

  19. Yu, T., Sun, H.X., Jia, Q.X., Zhang, Y.H., Zhao, W.: Sliding Mode Control of Pendulum-Driven Spherical Robots. In: Advanced Materials Research, vol. 591, pp. 1519–1522. Trans Tech Publ (2012)

  20. Cai, Y., Zhan, Q., Xi, X.: Neural Network Control for the Linear Motion of a Spherical Mobile Robot. Int. J. Adv. Robot. Syst. 8(4), 32 (2011)

    Article  Google Scholar 

Download references

Funding

This work was supported by the National Key Research and Development Program of China (No. SQ2019YFB130016) and the Autonomous Research Project of the State Key Laboratory of Industrial Control Technology, China(Grant No. ICT2021A13).

Author information

Authors and Affiliations

  1. State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control, Zhejiang University, Hangzhou, 310027, Zhejiang, People’s Republic of China

    You Wang, Yixu Wang, Yifan Liu, Xiaoqing Guan, Tao Hu, Ziang Zhang & Guang Li

  2. Luoteng Hangzhou Technology Co., Ltd., Baiyang Street, Hangzhou, 310012, Zhejiang, People’s Republic of China

    Jie Hao

Authors
  1. You Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yixu Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yifan Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xiaoqing Guan
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Tao Hu
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Ziang Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Jie Hao
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Guang Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Yixu Wang, You Wang and Yifan Liu. The first draft of the manuscript was written by Yixu Wang and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Guang Li.

Ethics declarations

Consent to participate

Informed consent was obtained from all individual participants included in the study.

Consent for publication

All individual participants included in the study have consented to publication.

Competing interests

The authors have no relevant financial or non-financial interests to disclose.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, Y., Wang, Y., Liu, Y. et al. New Riccati Velocity Controller of the Spherical Robot. J Intell Robot Syst 108, 51 (2023). https://doi.org/10.1007/s10846-023-01871-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-023-01871-w

Keywords

Search

Navigation