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- W2290123980 abstract "In this paper, a controller is designed to achieve tracking of a pendulum-driven spherical robot about a desired trajectory in the presence of model uncertainty and external disturbances. A methodology is proposed to design a feedforward controller for the spherical robot by approximating the desired trajectory using circles as basis functions. A linear state-feedback controller is used to drive the perturbations from the desired trajectory to zero. Numerical simulations show that the controller realizes tracking of the desired trajectory with perturbed initial conditions." @default.
- W2290123980 created "2016-06-24" @default.
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- W2290123980 date "2015-10-28" @default.
- W2290123980 modified "2023-09-25" @default.
- W2290123980 title "Trajectory Tracking of a Pendulum-Driven Spherical Robot" @default.
- W2290123980 doi "https://doi.org/10.1115/dscc2015-9727" @default.
- W2290123980 hasPublicationYear "2015" @default.
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