Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

904
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
904
Controller Configurations01:22

Controller Configurations

422
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
422
Feedback control systems01:26

Feedback control systems

767
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
767
Linear Momentum in Control Volume01:13

Linear Momentum in Control Volume

1.3K
Newton's second law is applied to obtain the linear momentum in a control volume in a fluid system. According to this law, the rate of change of linear momentum is equal to the sum of external forces acting on the system. When a control volume matches the fluid system at a specific moment, the forces acting on both are identical. Reynolds transport theorem helps explain this by breaking down the system's linear momentum into two components: the rate of change of linear momentum within...
1.3K
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

910
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
910
PD Controller: Design01:26

PD Controller: Design

690
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
690

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Causal Relationship Between Circulating Leukocyte Characteristics and Immune Cell Traits With Multiple Sclerosis Risk: A Two-Sample Bidirectional Mendelian Randomisation Study.

Cellular and molecular neurobiology·2026
Same author

Identifying Gaps in Rehabilitation Strategies for Chronic Stroke: A Systematic Review of Evidence in Patients With and Without Nerve Transfer.

NeuroRehabilitation·2026
Same author

The ATP-binding cassette (ABC) transporter YbiT deficient mutant of Riemerella anatipestifer displays attenuation and confers promoting immune protection in geese.

Veterinary microbiology·2026
Same author

Beyond tumor tracing: physiological uptake of sympathetic ganglia on somatostatin receptor PET/CT - prevalence, patterns, and biological rationale.

European journal of nuclear medicine and molecular imaging·2026
Same author

Regional dopaminergic dysfunction patterns discriminate Parkinson's disease from multiple system atrophy parkinsonian subtype.

Clinical parkinsonism & related disorders·2026
Same author

Study on the inhibition of liver cancer progression by lenvatinib nanoparticles combined with hyaluronic acid/gelatin scaffold.

Colloids and surfaces. B, Biointerfaces·2026

Related Experiment Video

Updated: Mar 17, 2026

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

15.3K

Passivity-based control of an omnidirectional mobile robot.

Chao Ren1, Yi Sun2, Shugen Ma3

  • 1School of Electrical Engineering and Automation, Tianjin University, 92 WeijinRoad, Tianjin, 300072 China.

Robotics and Biomimetics
|July 23, 2016
PubMed
Summary

This study introduces a simple passivity-based control for omnidirectional mobile robots. Energy shaping alone ensures global stability, avoiding issues like measurement noise amplification.

Keywords:
Dynamic controlOmnidirectional mobile robotPassivity

More Related Videos

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

12.3K
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

16.2K

Related Experiment Videos

Last Updated: Mar 17, 2026

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect
09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

15.3K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

12.3K
Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

16.2K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Omnidirectional mobile robots require precise trajectory tracking for various applications.
  • Existing control methods can be complex and susceptible to noise.

Purpose of the Study:

  • To develop a simplified passivity-based trajectory tracking control for omnidirectional mobile robots.
  • To leverage the inherent dynamics of the robot for an effective control strategy.

Main Methods:

  • Analysis of the robot's inherent passivity properties.
  • Design of a control system using energy shaping and damping principles.
  • Exploitation of the robot's natural damping forces.

Main Results:

  • The robot possesses sufficient inherent damping, eliminating the need for damping injection.
  • A control strategy relying solely on energy shaping was developed.
  • The proposed controller avoids disadvantages associated with differential feedback, such as noise amplification.

Conclusions:

  • The developed energy-shaping controller guarantees globally asymptotic stability for trajectory tracking.
  • Simulations and experimental results validate the effectiveness and practical implementability of the control design.