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Constant speed VSC of a spherical robot driven by Omni wheels
This paper mainly outlines the model of the invented spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived based on Euler Lagrange approach. Therefore, based on the derived model, the variable structure control (VSC) is presented in which the sliding mode contr...
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creator | Chi-Hua Wang Yu-Hsiang Lin Kun-Shu Huang Bore-Kuen Lee Kuo-Bin Lin Chi-Kuang Hwang |
description | This paper mainly outlines the model of the invented spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived based on Euler Lagrange approach. Therefore, based on the derived model, the variable structure control (VSC) is presented in which the sliding mode control (SMC) is adopted to achieve a constant speed at a vertical balance altitude. Simulations of the proposed control algorithm have been conducted based on two pre-determined sliding surfaces with adjustable parameters to discuss the effective time to enter the sliding surface and the convergence. |
doi_str_mv | 10.1109/ICMLC.2011.6016886 |
format | conference_proceeding |
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Simulations of the proposed control algorithm have been conducted based on two pre-determined sliding surfaces with adjustable parameters to discuss the effective time to enter the sliding surface and the convergence.</description><subject>Control systems</subject><subject>Cybernetics</subject><subject>Machine learning</subject><subject>Mathematical model</subject><subject>Mobile robots</subject><subject>Omni wheels</subject><subject>Sliding surface control</subject><subject>Spherical robot</subject><subject>Variable Structure Control</subject><subject>Wheels</subject><issn>2160-133X</issn><isbn>9781457703058</isbn><isbn>145770305X</isbn><isbn>9781457703089</isbn><isbn>1457703076</isbn><isbn>1457703084</isbn><isbn>9781457703072</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNpVj0tLw0AcxFdUsNR8Ab3sF0j87yP7OHiQRWsh0oNFvJXNPuhKmpRsUPrtDdiLcxl-c5hhELojUBEC-mFt3hpTUSCkEkCEUuICFVoqwmspgYHSl_-4VldoQYmAkjD2eYOKnL9glhBaA12gRzP0ebL9hPMxBI8_3g0eIrYz7sOYnO3wOLTDhP2YvkOP2xPeHPqEf_YhdPkWXUfb5VCcfYm2L89b81o2m9XaPDVl0jCVQkjHFI3cM2tbrr3Xws3rwfkQbeRzUnNaWydAOgJRgeBSKUc055YCZ0t0_1ebQgi745gOdjztzv_ZLx8gSvE</recordid><startdate>201107</startdate><enddate>201107</enddate><creator>Chi-Hua Wang</creator><creator>Yu-Hsiang Lin</creator><creator>Kun-Shu Huang</creator><creator>Bore-Kuen Lee</creator><creator>Kuo-Bin Lin</creator><creator>Chi-Kuang Hwang</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201107</creationdate><title>Constant speed VSC of a spherical robot driven by Omni wheels</title><author>Chi-Hua Wang ; Yu-Hsiang Lin ; Kun-Shu Huang ; Bore-Kuen Lee ; Kuo-Bin Lin ; Chi-Kuang Hwang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-667c382f4d3aab49dd96c902ecdefaf449d5425ac607c10f8064788c1944a2043</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Control systems</topic><topic>Cybernetics</topic><topic>Machine learning</topic><topic>Mathematical model</topic><topic>Mobile robots</topic><topic>Omni wheels</topic><topic>Sliding surface control</topic><topic>Spherical robot</topic><topic>Variable Structure Control</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Chi-Hua Wang</creatorcontrib><creatorcontrib>Yu-Hsiang Lin</creatorcontrib><creatorcontrib>Kun-Shu Huang</creatorcontrib><creatorcontrib>Bore-Kuen Lee</creatorcontrib><creatorcontrib>Kuo-Bin Lin</creatorcontrib><creatorcontrib>Chi-Kuang Hwang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chi-Hua Wang</au><au>Yu-Hsiang Lin</au><au>Kun-Shu Huang</au><au>Bore-Kuen Lee</au><au>Kuo-Bin Lin</au><au>Chi-Kuang Hwang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Constant speed VSC of a spherical robot driven by Omni wheels</atitle><btitle>2011 International Conference on Machine Learning and Cybernetics</btitle><stitle>ICMLC</stitle><date>2011-07</date><risdate>2011</risdate><volume>3</volume><spage>1214</spage><epage>1219</epage><pages>1214-1219</pages><issn>2160-133X</issn><isbn>9781457703058</isbn><isbn>145770305X</isbn><eisbn>9781457703089</eisbn><eisbn>1457703076</eisbn><eisbn>1457703084</eisbn><eisbn>9781457703072</eisbn><abstract>This paper mainly outlines the model of the invented spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived based on Euler Lagrange approach. Therefore, based on the derived model, the variable structure control (VSC) is presented in which the sliding mode control (SMC) is adopted to achieve a constant speed at a vertical balance altitude. Simulations of the proposed control algorithm have been conducted based on two pre-determined sliding surfaces with adjustable parameters to discuss the effective time to enter the sliding surface and the convergence.</abstract><pub>IEEE</pub><doi>10.1109/ICMLC.2011.6016886</doi><tpages>6</tpages></addata></record> |
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identifier | ISSN: 2160-133X |
ispartof | 2011 International Conference on Machine Learning and Cybernetics, 2011, Vol.3, p.1214-1219 |
issn | 2160-133X |
language | eng |
recordid | cdi_ieee_primary_6016886 |
source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Control systems Cybernetics Machine learning Mathematical model Mobile robots Omni wheels Sliding surface control Spherical robot Variable Structure Control Wheels |
title | Constant speed VSC of a spherical robot driven by Omni wheels |
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