S11-6 Control of Spherical Mobile Robots under Environmental Disturbances: Position Tracking with Spherical Mobile Robots in a Eeal-world Environment

摘要

Many control algorithms discussed in the scientific community are developed in simulated environments. They are often not tested in practice. In an educational project different control algorithms have been designed for spherical robots in a real world environment. This paper discusses these algorithms and assesses their performance under disturbances like external forces.