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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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Advances in Fuzzy Systems |
| Online Access: | http://dx.doi.org/10.1155/2017/2651976 |
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| author | Hamed Navabi Soroush Sadeghnejad Sepehr Ramezani Jacky Baltes |
| author_facet | Hamed Navabi Soroush Sadeghnejad Sepehr Ramezani Jacky Baltes |
| author_sort | Hamed Navabi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-d3684703de4a4c9ca1862b774d9262e5 |
| institution | Kabale University |
| issn | 1687-7101 1687-711X |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advances in Fuzzy Systems |
| spelling | doaj-art-d3684703de4a4c9ca1862b774d9262e52025-02-03T01:22:15ZengWileyAdvances in Fuzzy Systems1687-71011687-711X2017-01-01201710.1155/2017/26519762651976Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode ControllerHamed Navabi0Soroush Sadeghnejad1Sepehr Ramezani2Jacky Baltes3Mechanical Engineering Department, Amirkabir University of Technology, No. 424 Hafez Ave., P.O. Box 158754413, Tehran, IranMechanical Engineering Department, Amirkabir University of Technology, No. 424 Hafez Ave., P.O. Box 158754413, Tehran, IranMechanical Engineering Department, Amirkabir University of Technology, No. 424 Hafez Ave., P.O. Box 158754413, Tehran, IranDepartment of Electrical Engineering, National Taiwan Normal University, 162 Heping E Road, Sec. 1, Taipei 10610, TaiwanA 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.http://dx.doi.org/10.1155/2017/2651976 |
| spellingShingle | Hamed Navabi Soroush Sadeghnejad Sepehr Ramezani Jacky Baltes Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller Advances in Fuzzy Systems |
| title | Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller |
| title_full | Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller |
| title_fullStr | Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller |
| title_full_unstemmed | Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller |
| title_short | Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller |
| title_sort | position control of the single spherical wheel mobile robot by using the fuzzy sliding mode controller |
| url | http://dx.doi.org/10.1155/2017/2651976 |
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