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Fast Regulation of the Rolling Sphere: A Motion Planning Approach

Fast Regulation of the Rolling Sphere: A Motion Planning Approach. Ti-Chung Lee Electrical Engineering Dept., Minghsin Univ. of Sci. and Technol. , Taiwan Shir-Kuan Lin Electrical and Control Engineering Dept., National Chiao Tung Univ. , Taiwan.

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Fast Regulation of the Rolling Sphere: A Motion Planning Approach

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  1. Fast Regulation of the Rolling Sphere: A Motion Planning Approach Ti-Chung Lee Electrical Engineering Dept., Minghsin Univ. of Sci. and Technol., TaiwanShir-Kuan Lin Electrical and Control Engineering Dept., National Chiao Tung Univ., Taiwan • 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. Displacement variations of the rolling sphere

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