| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712551 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
This paper focuses on the control problem of a mobile robot pushing a ball. In order to drive a rolling ball along a given path, the robot should provide the ball with appropriate force by consecutive pushing operations. A new control algorithm combining a linear feedback control with a normal proportional feedback control is proposed, which steers a reference point to follow the given path and the ball to move around this point simultaneously. In the end, the simulation and real-world experiments address the performance and robustness of this control algorithm.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Xiang Li, Andreas Zell,