Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

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Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes;
  • Publisher: Hindawi Publishing Corporation
  • Journal: Advances in Fuzzy Systems (issn: 1687-7101, eissn: 1687-711X)
  • Publisher copyright policies & self-archiving
  • Identifiers: doi: 10.1155/2017/2651976
  • Subject: Electrical engineering. Electronics. Nuclear engineering | TK1-9971 | Computer software | Article Subject | QA76.75-76.765
    arxiv: Computer Science::Robotics

A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the ... View more
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