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Advances in Fuzzy Systems
Volume 2014 (2014), Article ID 291430, 6 pages
Research Article

Fuzzy Logic Control of a Ball on Sphere System

1Department of Mechanical Engineering, Shiraz Branch, Islamic Azad University, Shiraz, Iran
2School of Mechanical Engineering, Shiraz University, Shiraz, Fars, Iran

Received 1 July 2014; Accepted 28 November 2014; Published 11 December 2014

Academic Editor: Rustom M. Mamlook

Copyright © 2014 Seyed Alireza Moezi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The scope of this paper is to present a fuzzy logic control of a class of multi-input multioutput (MIMO) nonlinear systems called “system of ball on a sphere,” such an inherently nonlinear, unstable, and underactuated system, considered truly to be two independent ball and wheel systems around its equilibrium point. In this work, Sugeno method is investigated as a fuzzy controller method, so it works in a good state with optimization and adaptive techniques, which makes it very attractive in control problems, particularly for such nonlinear dynamic systems. The system’s dynamic is described and the equations are illustrated. The outputs are shown in different figures so as to be compared. Finally, these simulation results show the exactness of the controller’s performance.