Loading…

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...

Full description

Saved in:
Bibliographic Details
Main Authors: Chi-Hua Wang, Yu-Hsiang Lin, Kun-Shu Huang, Bore-Kuen Lee, Kuo-Bin Lin, Chi-Kuang Hwang
Format: Conference Proceeding
Language:English
Subjects:
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites
container_end_page 1219
container_issue
container_start_page 1214
container_title
container_volume 3
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
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6016886</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6016886</ieee_id><sourcerecordid>6016886</sourcerecordid><originalsourceid>FETCH-LOGICAL-i90t-667c382f4d3aab49dd96c902ecdefaf449d5425ac607c10f8064788c1944a2043</originalsourceid><addsrcrecordid>eNpVj0tLw0AcxFdUsNR8Ab3sF0j87yP7OHiQRWsh0oNFvJXNPuhKmpRsUPrtDdiLcxl-c5hhELojUBEC-mFt3hpTUSCkEkCEUuICFVoqwmspgYHSl_-4VldoQYmAkjD2eYOKnL9glhBaA12gRzP0ebL9hPMxBI8_3g0eIrYz7sOYnO3wOLTDhP2YvkOP2xPeHPqEf_YhdPkWXUfb5VCcfYm2L89b81o2m9XaPDVl0jCVQkjHFI3cM2tbrr3Xws3rwfkQbeRzUnNaWydAOgJRgeBSKUc055YCZ0t0_1ebQgi745gOdjztzv_ZLx8gSvE</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Constant speed VSC of a spherical robot driven by Omni wheels</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Chi-Hua Wang ; Yu-Hsiang Lin ; Kun-Shu Huang ; Bore-Kuen Lee ; Kuo-Bin Lin ; Chi-Kuang Hwang</creator><creatorcontrib>Chi-Hua Wang ; Yu-Hsiang Lin ; Kun-Shu Huang ; Bore-Kuen Lee ; Kuo-Bin Lin ; Chi-Kuang Hwang</creatorcontrib><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.</description><identifier>ISSN: 2160-133X</identifier><identifier>ISBN: 9781457703058</identifier><identifier>ISBN: 145770305X</identifier><identifier>EISBN: 9781457703089</identifier><identifier>EISBN: 1457703076</identifier><identifier>EISBN: 1457703084</identifier><identifier>EISBN: 9781457703072</identifier><identifier>DOI: 10.1109/ICMLC.2011.6016886</identifier><language>eng</language><publisher>IEEE</publisher><subject>Control systems ; Cybernetics ; Machine learning ; Mathematical model ; Mobile robots ; Omni wheels ; Sliding surface control ; Spherical robot ; Variable Structure Control ; Wheels</subject><ispartof>2011 International Conference on Machine Learning and Cybernetics, 2011, Vol.3, p.1214-1219</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6016886$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,777,781,786,787,2053,27907,54537,54902,54914</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6016886$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><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><title>Constant speed VSC of a spherical robot driven by Omni wheels</title><title>2011 International Conference on Machine Learning and Cybernetics</title><addtitle>ICMLC</addtitle><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.</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>
fulltext fulltext_linktorsrc
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
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-17T09%3A24%3A27IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Constant%20speed%20VSC%20of%20a%20spherical%20robot%20driven%20by%20Omni%20wheels&rft.btitle=2011%20International%20Conference%20on%20Machine%20Learning%20and%20Cybernetics&rft.au=Chi-Hua%20Wang&rft.date=2011-07&rft.volume=3&rft.spage=1214&rft.epage=1219&rft.pages=1214-1219&rft.issn=2160-133X&rft.isbn=9781457703058&rft.isbn_list=145770305X&rft_id=info:doi/10.1109/ICMLC.2011.6016886&rft.eisbn=9781457703089&rft.eisbn_list=1457703076&rft.eisbn_list=1457703084&rft.eisbn_list=9781457703072&rft_dat=%3Cieee_6IE%3E6016886%3C/ieee_6IE%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-i90t-667c382f4d3aab49dd96c902ecdefaf449d5425ac607c10f8064788c1944a2043%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6016886&rfr_iscdi=true