Super Twisting Sliding Mode Control of Spherical Robot

摘要

In this paper, modeling and control of 2-DOF spherical robot driven by a pendulum-based driving mechanism are discussed. Despite various advantages like greater mobility, stability, and scope of operation, the spherical robot is less popular due to the complex nature of dynamics, path planning, and control issues. To address these challenges, this paper focuses on designing a robust higher order sliding mode controller. Second order super twisting sliding mode controller can attain the desired trajectory as well as improve the performance of the typical non-linear robust controller. Simulation results are shown and compared with the conventional sliding mode controller which proves that the proposed controller can reduce control chattering and achieve robust operation in the presence of external disturbances and model uncertainties as well.