Abstract:
Problems
of controlling a spherical robot with pendulum drive on inclined
plane are considered. A mathematical model of the dynamics of this
robot is constructed and control laws in the form of state
feedback that provide robot motion along a given trajectory on a
horizontal or a non-horizontal plane are synthesized. Numerical
results of computer simulation that demonstrate efficiency of the
proposed control laws are presented.
Keywords:control theory, spherical
robot, state feedback control.
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