Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of direction trajectory tracking problem. In this study, we propose new controller HTSMC, an instruction planning MPC, framework MHH. The HTSMC designed by integrating fast terminal algorithm, hierarchical method, motion features spherical robot, its dynamics. addition, has excellent control effect with quick response speed strong stability. MPC can obtain optimal commands that are then transmitted to velocity controller. Since two torque controllers in MHH all Lyapunov-based sliding mode controllers, may achieve performance while assuring Finally, eliminate requirement for MPC's stability dynamic constraints. hardware experiments demonstrate efficacy