TY - JOUR
T1 - Position control of the single spherical wheel mobile robot by using the fuzzy sliding mode controller
AU - Navabi, Hamed
AU - Sadeghnejad, Soroush
AU - Ramezani, Sepehr
AU - Baltes, Jacky
N1 - Publisher Copyright:
© 2017 Hamed Navabi et al.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
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U2 - 10.1155/2017/2651976
DO - 10.1155/2017/2651976
M3 - Article
AN - SCOPUS:85010645371
SN - 1687-7101
VL - 2017
JO - Advances in Fuzzy Systems
JF - Advances in Fuzzy Systems
M1 - 2651976
ER -