Change search
ReferencesLink to record
Permanent link

Direct link
Development of a robust control software for a ball shaped robot
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Mars Ball is a spherical robot intended for Mars Exploration whose mechanical part was designed by Tomi Ylikorpi in 2008. It uses two motors to complete the pendulum displacement for locomotion in 2 DOF. The aim of the robot is to collect the data in Mars with low energy cost by utilizing wind power for secondary propulsion. This aim requires control the driving velocity and the roll angle of Mars Ball to make it be able to turn to the wind. The mathematical model of Mars Ball and the other disturbances models like slope, wind and friction are built. A robust control algorithm- Sliding Mode Control is investigated to solve the difficulties facing Mars Ball system: The whole system is non-linear and coupled: The system depends strongly on the wind and road surface condition. The simulation with mathematical model is first conducted in Simulink with pseudo-switching to solve the chattering phenomenon, the results show that both driving velocity and the roll angle can be stabilized within a short time. The designed controllers are also proved to have good path following capability. In hardware, necessary sensors for feedback information are chosen according to control algorithm. In software, basic commands from ground station are designed and explained how they are interfaced with on-board computer inside Mars Ball through WiFi. Finally, the control algorithm that will be implemented in on-board computer is tested in Adams simulator which simulates mechanisms of Mars Ball’s prototype, to verify the effectiveness of designed controllers.

Place, publisher, year, edition, pages
Keyword [en]
Technology, sliding mode control, chattering, path following, pseudo-, switching
Keyword [sv]
URN: urn:nbn:se:ltu:diva-45643ISRN: LTU-PB-EX--10/069--SELocal ID: 351f59fb-6439-4720-858f-4209fc030403OAI: diva2:1018939
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(17178 kB)0 downloads
File information
File name FULLTEXT01.pdfFile size 17178 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

ReferencesLink to record
Permanent link

Direct link