Robust balancing and position control of a single spherical wheeled mobile platform

Conference object OPEN
Yavuz, Fırat; Yavuz, Firat; Ünel, Mustafa; Unel, Mustafa;

Self-balancing mobile platforms with single spherical wheel, generally called ballbots, are suitable example of underactuated systems. Balancing control of a ballbot platform, which aims to maintain the upright orientation by rejecting external disturban... View more
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