2D Ballbot is an actual under-actuated system with second-order nonholonomic velocity constraints and input coupling case where only control input is employed to control two outputs of the system. Controlling such a system is not easy because it faces many changelings including nonlinearities, external disturbances, and uncertainties. This study proposed a robust control system for a Ballbot mobile robot. The proposed control scheme is constructed using the hierarchical sliding mode control technique. The kinematics and dynamics of the Ballbot are derived. A Lyapunov function is used to prove the stability of the closed-loop control system. The stabilizing and transferring problems are investigated through several simulations and experiment...
The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by ...
[[abstract]]Due to the under-actuated feature, the reference signals using the combination of the sy...
A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is ...
In this work we investigate and derive a nonlinear control law for a spatial model of the underactua...
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots a...
In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbe...
Control of robotic systems is vital due to wide range of their applications because this system is m...
A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and ...
The paper addresses the problem of efficiently controlling a class of single input multiple output (...
This paper develops a new robust tracking control design for n-link robot manipulators with dynamic ...
Date of publication December 7, 2017, date of current version February 14, 2018. This article was pu...
This thesis describes the implementation of a vertical motion and position control scheme for a mech...
This article addresses the robust exponential stabilization problem of underactuated mechanical syst...
Sliding mode control has been shown to be a robust and effective control approach for stabilization ...
This is the author accepted manuscript. The final version is available from the publisher via the DO...
The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by ...
[[abstract]]Due to the under-actuated feature, the reference signals using the combination of the sy...
A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is ...
In this work we investigate and derive a nonlinear control law for a spatial model of the underactua...
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots a...
In this paper, a sliding mode control scheme is developed to stabilise a class of nonlinear perturbe...
Control of robotic systems is vital due to wide range of their applications because this system is m...
A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and ...
The paper addresses the problem of efficiently controlling a class of single input multiple output (...
This paper develops a new robust tracking control design for n-link robot manipulators with dynamic ...
Date of publication December 7, 2017, date of current version February 14, 2018. This article was pu...
This thesis describes the implementation of a vertical motion and position control scheme for a mech...
This article addresses the robust exponential stabilization problem of underactuated mechanical syst...
Sliding mode control has been shown to be a robust and effective control approach for stabilization ...
This is the author accepted manuscript. The final version is available from the publisher via the DO...
The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by ...
[[abstract]]Due to the under-actuated feature, the reference signals using the combination of the sy...
A novel robot controller is proposed, borrowing ideas from sliding mode and adaptive control. It is ...