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

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 governing dynamic equations of...

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Bibliographic Details
Main Authors: Hamed Navabi, Soroush Sadeghnejad, Sepehr Ramezani, Jacky Baltes
Format: Article
Language:English
Published: Wiley 2017-01-01
Series:Advances in Fuzzy Systems
Online Access:http://dx.doi.org/10.1155/2017/2651976
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