Trajectory Tracking Control for a Biomimetic Spherical Robot Based on ADRC
2021 IEEE International Conference on Mechatronics and Automation (ICMA)(2021)
摘要
In this article, a two-dimensional trajectory tracking control framework is proposed for biomimetic spherical robots (BSR) in a constrained workspace despite the lack of dynamic model parameters information and the effects of disturbances on the robot motion. Meanwhile, The research presents the general dynamics models of the robot and the thrusters allocator scheme to ensure the force generated b...
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关键词
Robot motion,Mechatronics,Trajectory tracking,Propellers,Attitude control,Biological system modeling,Simulation
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