Abstract:

A dynamic balance control method for a spherical inspection robot was presented. A cascade nonlinear system model was derived using input transformation and diffeomeorphism. Based on sigmoidal function, a state feedback controller was designed. This method guarantees globally asymptotic convergence of the state to the desired small neighborhood. Simulation results and experiments are carried out to verify the feasibility of this method.

Key words: spherical robot, inspection robot, dynamic balance