Fast regulation of the rolling sphere: A motion planning approach

Ti Chung Lee*, Shir-Kuan Lin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1838-1842
Number of pages5
DOIs
StatePublished - 27 Nov 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period10/04/0714/04/07

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