標題: Fast regulation of the rolling sphere: A motion planning approach
作者: Lee, Ti-Chung
Lin, Shir-Kuan
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 2007
摘要: This paper presents a simple stabilizing control scheme for the rolling sphere. A tracking control problem with respect to a "virtual moving trajectory" is first solved. Then, it is used to achieve practical stability for the regulation problem. The derived controllers have a simple form and can guarantee fast convergence. To verify the effectiveness of the proposed results, an interesting simulation result is presented.
URI: http://dx.doi.org/10.1109/ROBOT.2007.363589
http://hdl.handle.net/11536/135669
ISBN: 978-1-4244-0601-2
ISSN: 1050-4729
DOI: 10.1109/ROBOT.2007.363589
期刊: PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
起始頁: 1838
結束頁: +
Appears in Collections:Conferences Paper