Dynamic modeling and sliding-mode control of a Ball robot with inverse mouse-ball drive

Liao, Ching-Wen; Tsai, Ching‐Chih; Li, Yi Yu; Chan, Cheng-Kai

doi:10.1109/sice.2008.4655168

Cited by 24 publications

(6 citation statements)

References 1 publication

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“…Theorem 2. Consider the ballbot system given in (17), the system states are observed by the ESO described in (25), under the control signal u = u r + u s given in (50) where k 𝛼 , k 𝛽 , k 1 , k 2 , k and 𝜂 are positive numbers, the sliding surface is asymptotically convergence to zero.…”

Section: Eso-based Hsmc Balancing Controlmentioning

confidence: 99%

“…Theorem 3. Consider the ballbot system described in (17), the ESO designed based on (25) and the superlevel set  of h(q). If the initial values W 0 (0) ≥ 0, W 1 (0) ≥ 𝜆 3 ||𝜹(0)||, and 𝜆 2 > 𝓁 2 𝜆 3 , then h(q) ≥ 0 for all time with the control signal u satisfy that…”

Section: Eso-based Ecbf Safe Controlmentioning

confidence: 99%

“…The motion trajectory (Figures (Figures 8,14,17) show the outcomes of the simulation. Furthermore, to further illustrate the superiority of the proposed HSMC-ESO controller, a performance evaluation table of the controllers is included in the third simulation scenario.…”

Section: Numerical Simulationsmentioning

confidence: 99%

See 2 more Smart Citations

Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints

Vu,

Pham,

Nguyen

et al. 2024

Intl J Robust & Nonlinear

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This paper introduces a comprehensive motion planning–tracking–safety constraint scheme for a 3D ballbot system. A nonlinear control for the 3D ballbot system is designed based on three separate planes by utilizing extended state observer (ESO) to estimate coupling mechanisms. Three virtual control signals are generated from these distinct planes and can be used for formulating actual control signals. To overcome the complexity of nonlinear motion equations, flatness theory is used to construct the time‐optimal trajectory through an optimization problem, facilitating smooth movement of the ballbot, and obstacle avoidance based on RRT* waypoints. Furthermore, our work manipulates the hierarchical sliding mode controller (HSMC) as the nominal controller to ensure that the ballbot tracks to the optimal trajectory, unifying with the exponential control barrier function (ECBF) to address safety constraints in the body's deflection angle. Through extensive simulations and comparative analysis, the system demonstrates its effectiveness and safe operation in various working conditions.

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Section: Eso-based Hsmc Balancing Controlmentioning

confidence: 99%

Section: Eso-based Ecbf Safe Controlmentioning

confidence: 99%

See 1 more Smart Citation

Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints

Vu,

Pham,

Nguyen

et al. 2024

Intl J Robust & Nonlinear

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show abstract

“…A further challenge in developing the concept of a hospital that meets future needs and longevity is the rapid changes experienced in the health sector due to advances in technology and medical [10]. Furthermore [11], in an integrated decision support system to assess the current building condition and provide sustainable renovation strategies for hospital decision-makers.On the other hand [12]the hospital planning needs to look at the following:…”

Section: Literature Reviewmentioning

confidence: 99%

The planning of the Bengkayang Regional General Hospital masterplan

Alhamdani,

Nurhamsyah,

Sari

2023

IOP Conf. Ser.: Earth Environ. Sci.

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Masterplanplanningis needed for planning and improving a hospital’s performance. The Bengkayang Regency Government plans to upgrade the existing Bengkayang Hospital to Type-B. To realize this requires astudy of a master development plan. This study aims to make a comprehensive hospital construction master plan review to support the development of the Bengkayang general hospital in an integrated manner and accommodate all areas. The descriptive qualitative method is used, whichcollects primary data through field observations. All information and data can be obtained visually and then analyzed to get an idea of the factors that will affect the development of the BengkayangGeneral Hospital. The results of this study are the Master Plan program and design review, as well as the stages of development of the Bengkayang Regional General Hospital with appropriate and integrated service functions according to the needs of health services, local culture, natural conditions, available land, and financial conditions. This study will reference local governments for plans to develop advanced and integrated hospitals to continue improving their services.

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“…The application of SMC for Ballbot control can be found in several previous studies. Ching-Wen et al [20] introduced a hierarchical SMC based on backstepping to control stabilizing and agile trajectory tracking of a Ballbot with exogenous disturbance. Reference [21] enhanced Ching-Wen's backstepping SMC using interval type 2 fuzzy neural networks for motion control of a Ballbot with a four-motor inverse mouse ball-diving mechanism.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Sliding Mode Control for a 3D Ballbot that is a Class of Second-order Under-actuated System

Pham

Dong

Hương

et al. 2019

2019 19th International Conference on Control, Automation and Systems (ICCAS)

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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 experiments by using the actual Ballbot platform.

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Dynamic modeling and sliding-mode control of a Ball robot with inverse mouse-ball drive

Cited by 24 publications

References 1 publication

Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints

Time‐optimal trajectory generation and observer‐based hierarchical sliding mode control for ballbots with system constraints

The planning of the Bengkayang Regional General Hospital masterplan

Hierarchical Sliding Mode Control for a 3D Ballbot that is a Class of Second-order Under-actuated System

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