Advanced Nonlinear Control for an Omnidirectional Spherical Robot Integrating Aerial and Ground Mobility

Davide Spitaleri, Gianluca Pepe, Maicol Laurenza, Silvia Milana, Flavio Ceccarelli, Antonio Carcaterra

2024

Abstract

This paper presents an innovative control strategy for an overactuated omnidirectional spherical drone, capable of both flying and rolling on the ground. The control system, based on Feedback Local Optimality Control (FLOP), utilizes a comprehensive dynamic model that facilitates smooth transitions between flight and rolling modes, optimizing energy efficiency and enhancing maneuverability. Key features include an advanced decision-making mechanism for contact detection and a constrained control allocation algorithm that respects physical limitations. Virtual simulations have demonstrated the control system's robustness and responsiveness. This spherical drone design not only extends the capability to navigate complex environments but also enables energy conservation during ground transport.

Paper Citation

in Harvard Style

Spitaleri D., Pepe G., Laurenza M., Milana S., Ceccarelli F. and Carcaterra A. (2024). Advanced Nonlinear Control for an Omnidirectional Spherical Robot Integrating Aerial and Ground Mobility. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 684-691. DOI: 10.5220/0013020300003822

in Bibtex Style

@conference{icinco24,
author={Davide Spitaleri and Gianluca Pepe and Maicol Laurenza and Silvia Milana and Flavio Ceccarelli and Antonio Carcaterra},
title={Advanced Nonlinear Control for an Omnidirectional Spherical Robot Integrating Aerial and Ground Mobility},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={684-691},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013020300003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Advanced Nonlinear Control for an Omnidirectional Spherical Robot Integrating Aerial and Ground Mobility
SN - 978-989-758-717-7
AU - Spitaleri D.
AU - Pepe G.
AU - Laurenza M.
AU - Milana S.
AU - Ceccarelli F.
AU - Carcaterra A.
PY - 2024
SP - 684
EP - 691
DO - 10.5220/0013020300003822
PB - SciTePress