Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/afs/volume-2017/2651976/figures/2651976.fig.008a.svgz" name="2651976.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Robot body angular position</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/afs/volume-2017/2651976/figures/2651976.fig.008b.svgz" name="2651976.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Robot body angular velocity</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/afs/volume-2017/2651976/figures/2651976.fig.008c.svgz" name="2651976.fig.008c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Robot position</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/afs/volume-2017/2651976/figures/2651976.fig.008d.svgz" name="2651976.fig.008d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Control signal</td></tr></table>

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Advances in Fuzzy Systems

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Figure 8

Figure 8: Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller 