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

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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