Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller
Joint Authors
Navabi, Hamed
Sadeghnejad, Soroush
Ramezani, Sepehr
Baltes, J.
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-01-12
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Navabi, Hamed& Sadeghnejad, Soroush& Ramezani, Sepehr& Baltes, J.. 2017. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller. Advances in Fuzzy Systems،Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1121799
Modern Language Association (MLA)
Navabi, Hamed…[et al.]. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller. Advances in Fuzzy Systems No. 2017 (2017), pp.1-10.
https://search.emarefa.net/detail/BIM-1121799
American Medical Association (AMA)
Navabi, Hamed& Sadeghnejad, Soroush& Ramezani, Sepehr& Baltes, J.. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller. Advances in Fuzzy Systems. 2017. Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1121799
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1121799