Position control of the single spherical wheel mobile robot by using the fuzzy sliding mode controller

Hamed Navabi, Soroush Sadeghnejad, Sepehr Ramezani, Jacky Baltes

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11 Citations (Scopus)


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 the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a) regulation with one signal, (b) regulation and position control with one signal, (c) regulation and position control with two signals, and (d) FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

Original languageEnglish
Article number2651976
JournalAdvances in Fuzzy Systems
Publication statusPublished - 2017 Jan 1


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Computational Mathematics

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