Scholarlink

<p>Spherical robots, characterized by their unique fully enclosed spherical structures, offer enhanced mobility and robust operation in challenging environments and adverse weather conditions. This paper presents the design and control of a dual-degree-of-freedom pendulum-driven spherical robot, addressing key limitations of conventional designs such as large turning radii and inadequate slope-climbing capabilities. The influence of the pendulum’s eccentric mass on climbing performance and obstacle-crossing ability is systematically analyzed, leading to a novel structural design approach. A comprehensive dynamic model is established, decoupling the robot’s motion into linear and steering components to facilitate control system development. Building upon this model, an Adaptive High-Speed Sliding Mode Control (AHSMC) strategy is proposed to achieve rapid response and robust trajectory tracking under highly nonlinear dynamics. Experimental validations demonstrate a minimum turning radius of 0.2 meters and stable operation on slopes up to 12<InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(^{\circ }\)</EquationSource> <EquationSource Format="MATHML"><math> <mmultiscripts> <mrow /> <mrow /> <mo>∘</mo> </mmultiscripts> </math></EquationSource> </InlineEquation>. Moreover, the AHSMC-based velocity control outperforms traditional PID and hierarchical sliding mode control (HSMC) methods in terms of speed regulation accuracy and robustness, enabling precise trajectory tracking across both smooth and asphalt surfaces. The results substantiate the effectiveness of the proposed design and control framework, underscoring its potential for practical deployment in dynamic and constrained environments typical of small-scale robotics applications.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Adaptive high-speed sliding mode control for enhanced maneuverability and trajectory tracking in spherical robots

  • 期刊论文

  • 发表日期：

    2026年2月19日

查看全文
  • Han Mao,
  • Aibin Zhu,
  • Xin Wang,
  • Meng Li,
  • Yu Zhang,
  • Di Zhang,
  • Cheng Li,
  • Chunli Zheng,
  • Peifeng Ma,
  • Xinyu Wu,
  • Jing Zhang

摘要

Spherical robots, characterized by their unique fully enclosed spherical structures, offer enhanced mobility and robust operation in challenging environments and adverse weather conditions. This paper presents the design and control of a dual-degree-of-freedom pendulum-driven spherical robot, addressing key limitations of conventional designs such as large turning radii and inadequate slope-climbing capabilities. The influence of the pendulum’s eccentric mass on climbing performance and obstacle-crossing ability is systematically analyzed, leading to a novel structural design approach. A comprehensive dynamic model is established, decoupling the robot’s motion into linear and steering components to facilitate control system development. Building upon this model, an Adaptive High-Speed Sliding Mode Control (AHSMC) strategy is proposed to achieve rapid response and robust trajectory tracking under highly nonlinear dynamics. Experimental validations demonstrate a minimum turning radius of 0.2 meters and stable operation on slopes up to 12 \(^{\circ }\) ∘ . Moreover, the AHSMC-based velocity control outperforms traditional PID and hierarchical sliding mode control (HSMC) methods in terms of speed regulation accuracy and robustness, enabling precise trajectory tracking across both smooth and asphalt surfaces. The results substantiate the effectiveness of the proposed design and control framework, underscoring its potential for practical deployment in dynamic and constrained environments typical of small-scale robotics applications.