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

Table 1

Comparison of characteristics of four Ballbot robots.

University	CMU	TGU	UA	ETH
Year	2006	2008	2009	2010
Weight (Kg)	45	11	34.5	14.5
Height (Cm)	150	50	160	80
Max deviation angle (degree)	Less than 1	Less than 5	Less than 1	Up to 20
Max velocity (m/s)	Less than 0.1	Less than 0.3	Less than 0.1	Up to 2
Rotation	yes	Yes	No	yes
Controller	LQR/PID	PD	LQRI	LQR/gain scheduling