Adaptive control method for the high-speed linear motion of a spherical robot

The development of spherical robots with high-speed and precise motion capability is of great importance. Aiming at the influences of factors such as external disturbances and system chattering on the high-speed and precise motion of a spherical robot, a fractional adaptive hierarchical integral sliding mode controller (F-AIHSMC) was introduced. The standard dynamic model of the spherical robot in the state of high-speed linear motion was established and used as the basis for the study of control method. The integral and fractional calculus terms were integrated into the hierarchical sliding mode control method, and the unknown disturbance during high-speed motion was adaptively evaluated and compensated. Finally, the control effect of the method was verified by using a BYQ-GS spherical robot as an example. The results show that, as the speed increases, the F-AIHSMC can effectively improve the response speed, convergence speed, robustness and stability of the system in high-speed linear motion. The study is of great significance for the realization of high-speed and precise control of spherical robots. © 2021, Editorial Office of Journal of Vibration and Shock. All right reserved.