Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

Observer-Based Sliding Mode Control for Path Tracking of a Spherical Robot

Due to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques t...

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Bibliographic Details
Main Authors: Majid Taheri Andani, Zahra Ramezani, Saeed Moazami, Jinde Cao, Mohammad Mehdi Arefi, Hassan Zargarzadeh
Format: Article
Language:English
Published: Wiley 2018-01-01
Series:Complexity
Online Access:http://dx.doi.org/10.1155/2018/3129398
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