Nonlinear Control of Motion of A Spherical Robot on Inclined Surfaces Based on Feedback Linearization Method

Spherical robots are the mobile robots with spherical shape equipped to internal drive mechanism that move on the ground due to their external shell rolling. In this research, after modeling of a pendulum type of the spherical robots, dynamic analysis of their model during planar motion on an inclined surface is performed. The motion equations of spherical robot are derived using Lagrange method. Also, a nonlinear controller based on feedback linearization methods is designed. In the following, considering non-confirm initial conditions on trajectory, parametric uncertainty and also disturbance torque on robot, the motion of robot is simulated. The results indicate that the designed controller has proper and resistant performance in tracking selected trajectory for sphere shell rotation during moving on specified inclined surface.