Research on modeling and motion control of a pendulous spherical robot

Aiming at the motion control problem of a disturbed spherical mobile robot, a linear and steering motion control method based on nonlinear active disturbance rejection controller(ADRC) technology is proposed. This method uses Euler-Lagrange to study the dynamic characteristics of the spherical shell, frame and pendulum of XK-I spherical robot, and establishes the coupling multi-body dynamic model of the robot. Based on the actual motion control of XK-I spherical robot, the control equations were decoupled and the linear and steering motion controllers were designed in combination with the nonlinear ADRC technology. A comparative test study of PID, variable parameters PID(VAPID) and ADRC was conducted. Simulation results show that the XK-I spherical robot ADRC controller has better anti-interference performance.