Optimal Control of the Movement of a Spherical Robot on Uneven Surfaces
Abstract
Abstract We consider a mathematical model of the continuous movement of a spherical robot over an arbitrary uneven surface, as well as a reduced model that excludes slipping and twisting. State-feedback control laws are synthesized to ensure that the robot moves along a given trajectory. The effectiveness of the proposed control laws is demonstrated by computer simulation results. A possible implementation of an electromagnetic drive for generating the robot’s motion is discussed.
Fields of Study & Subjects
Control and Dynamics of Mobile Robots
Micro and Nano Robotics
Elasticity and Wave Propagation
Publication details
- Journal / source
- Journal of Computer and Systems Sciences International
- Publisher
- Pleiades Publishing Ltd
- Volume
- 65
- Issue
- 1
- Pages
- 134–151
- Publication date
- 1 February 2026
- Language
- EN