Abstract
This study presents the construction process of a novel spherical rolling robot and control strategies that are used to improve robot locomotion. The proposed robot drive mechanism is constructed based on a combination of the pendulum and wheel drive mechanisms. The control model of the proposed robot is developed, and the state space model is calculated based on the obtained control model. Two control strategies are defined to improve the synchronization performance of the proposed robot motors. The proportional-derivative and proportional-integral-derivative controllers are designed based on the pole placement method. The proportional-integral-derivative controller leads to a better step response than the proportional-derivative controller. The controller parameters are tuned with genetic and differential evaluation algorithms. The proportional-integral-derivative controller which is tuned based on the differential evaluation algorithm leads to a better step response than the proportional-integral-derivative controller that is tuned based on genetic algorithm. Fuzzy logics are used to reduce the robot drive mechanism motors synchronizing process time to the end of achieving a high-performance controller. The experimental implementation results of fuzzy-proportional-integral-derivative on the proposed spherical rolling robot resulted in a desirable synchronizing performance in a short time.
References
J. Alves and J. Dias, Design and control of a spherical mobile robot, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 217 (6) (2003) 457–467.
M. Artusi, M. Potz, J. Aristizabal, C. Menon, S. Cocuzza and S. Debei, Electroactive elastomeric actuators for the implementation of a deformable spherical rover, Mechatronics, IEEE/ASME Transactions on, 16 (1) (2011) 50–57.
G. Shu, Q. Zhan and Y. Cai, Motion control of spherical robot based on conservation of angular momentum, Mechatronics and Automation, 2009. ICMA 2009. International Conference on, IEEE (2009) 599–604.
Q. Zhan, Y. Cai and C. Yan, Design, analysis and experiments of an omni-directional spherical robot, Robotics and Automation (ICRA), IEEE (2011) 4921–4926.
F. K. Zadeh, S. Asiri, P. Moallem and M. M. Zadeh, LQR motion control and analysis of a prototype spherical robot, Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on, IEEE (2014) 890–895.
R. Mukherjee, M. Minor and J. T. Pukrushpan, Simple motion planning strategies for spherobot: a spherical mobile robot, Decision and Control, 1999. Proceedings of the 38th IEEE Conference on, IEEE, 3 (1999) 2132–2137.
K. W. Wait, P. J. Jackson and L. S. Smoot, Self locomotion of a spherical rolling robot using a novel deformable pneumatic method, Robotics and Automation (ICRA), 2010 IEEE International Conference on, IEEE (2010) 3757–3762.
M. D. Carpenter and M. Peck, Power-optimal steering of a space robotic system driven by control-moment gyroscopes, AIAA Guidance, Navigation and Control Conference and Exhibit, 18 -21 August, Honolulu, Hawaii (2008).
B. Li, Q. Deng and Z. Liu, A spherical hopping robot for exploration in complex environments, Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, IEEE (2009) 402–407.
M. Seeman, M. Broxvall, A. Saffiotti and P. Wide, An autonomous spherical robot for security tasks, Computational Intelligence for Homeland Security and Personal Safety, Proceedings of the 2006 IEEE International Conference on, IEEE (2006) 51–55.
A. Surmiri and K. Hasanpour, A new hardening rule for metallic foam plasticity, Journal of Mechanical Science and Technology, 30 (5) (2016) 2105–2111.
M. Yue, B. Liu, X. Wei and P. Hu, Adaptive sliding-mode control of spherical robot with estimated rolling resistance, Cybernetics and Systems, 45 (5) (2014) 407–417.
S. Guo, J. Du, X. Lin and C. Yue, Adaptive fuzzy sliding mode control for spherical underwater robots, Mechatronics and Automation (ICMA), 2012 International Conference on, IEEE (2012) 1681–1685.
K. V. Lakshmi and P. Srinivas, Optimal tuning of PID controller using Particle Swarm Optimization, Electrical, Electronics, Signals, Communication and Optimization (EESCO), 2015 International Conference on, IEEE (2015) 1–5.
K. L. Narayana, V. N. Kumar, M. Dhivya and R. P. Raj, Application of ant colony optimization in tuning a PID controller to a conical tank, Indian Journal of Science and Technology, 8 (S2) (2015) 217–223.
A. Halme, T. Schönberg and Y. Wang, Motion control of a spherical mobile robot, Advanced Motion Control, 1996. AMC’96-MIE. Proceedings, 1996 4th International Workshop on, IEEE, 1 (1996) 259–264.
S. Nagesh, A. J. Basha and T. D. Singh, Dynamic performance analysis of high speed flexible coupling of gas turbine engine transmission system, Journal of Mechanical Science and Technology, 29 (1) (2015) 173–179.
J. Zhang, J. Zhuang and H. Du, Self-organizing genetic algorithm based tuning of PID controllers, Information Sciences, 179 (7) (2009) 1007–1018.
G. Konar, K. K. Mandal and N. Chakraborty, Two Area Load Frequency Control of Hybrid Power System Using Genetic Algorithm and Differential Evolution Tuned PID Controller in Deregulated Environment, Transactions on Engineering Technologies (2015) 263–278.
Z. Zhen-Yu, M. Tomizuka and S. Isaka, Fuzzy gain scheduling of PID controllers, Control Applications, 1992., First IEEE Conference on, IEEE, 2 (1992) 698–703.
Author information
Authors and Affiliations
Corresponding author
Additional information
Recommended by Associate Editor Kyoungchul Kong
Rasoul Sadeghian obtained a B.Sc. in Applied Mathematics from the Vli-E Asr University of Rafsanjan, Kerman, Iran. He obtained an M.Sc. in Mechatronics Engineering from the Islamic Azad University Qazvin, Iran. His thesis was titled “Design, Analysis, and Development of a Spherical Mobile Robot and Path Planning Based on Visual Servoing Concepts”. He has been a member of Human-Robot Interaction Laboratory (known as TaarLab for its Persian abbreviation) since January 2013. His research interests include the kinematics, dynamics and control of mobile robots.
Mehdi Tale Masouleh obtained a B.Eng., M.Sc. and Ph.D. in Mechanical Engineering (Robotics) from Laval University, Québec, Canada, in 2006, 2007 and 2010, respectively. He is currently a faculty member of the Faculty of New Sciences and Technology of the University of Tehran. He is the Director of the Human-Robot Interaction Laboratory (known as TaarLab for its Persian abbreviation). His research interests include the kinematics, dynamics, and design of serial and parallel robotic systems, as well as humanoids, mobile robots, and optimization techniques (i.e., interval analysis and convex optimization) for robotic applications. He is also the Director of a national- level project for a haptic dental simulator.
Rights and permissions
About this article
Cite this article
Sadeghian, R., Masouleh, M.T. Controller tuning based on optimization algorithms of a novel spherical rolling robot. J Mech Sci Technol 30, 5207–5216 (2016). https://doi.org/10.1007/s12206-016-1038-0
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-016-1038-0