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Inventi Impact: Fuzzy Systems

Articles

  • Inventi:efs/23091/17
    Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode\nController
    01-Jan-1970 Research 2017 : July - September
    Hamed Navabi, Soroush Sadeghnejad, Sepehr Ramezani, Jacky Baltes

    A spherical wheel robot or Ballbot�a robot that balances on an actuated spherical ball�is a new and recent type of robot in\nthe popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian\nmethod to derive the governing dynamic equations of the system.We also describe a novel Fuzzy SlidingMode Controller (FSMC)\nimplemented to control a spherical wheel mobile robot.The nonlinear nature of the equations makes the controller nontrivial.We\ncompare the performance of four different fuzzy controllers: (a) regulation with one signal, (b) regulation and position control with\none signal, (c) regulation and position control with two signals, and (d) FSMC for regulation and position control with two signals.\nThe system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed\ncontrollers have the ability to be implemented on real hardware.

    How to Cite this Article
    CC Compliant Citation: Hamed Navabi, Soroush Sadeghnejad, Sepehr Ramezani, and Jacky Baltes, â??Position Control of the Single Spherical\nWheel Mobile Robot by Using the Fuzzy Sliding Mode Controller,â? Advances in Fuzzy Systems, vol. 2017, Article ID 2651976, 10 pages,\n2017. doi:10.1155/2017/2651976, http://creativecommons.org/licenses/by/4.0/.
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