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Advances in Fuzzy Systems
Volume 2017, Article ID 2651976, 10 pages
Research Article

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

1Mechanical Engineering Department, Amirkabir University of Technology, No. 424 Hafez Ave., P.O. Box 158754413, Tehran, Iran
2Department of Electrical Engineering, National Taiwan Normal University, 162 Heping E Road, Sec. 1, Taipei 10610, Taiwan

Correspondence should be addressed to Soroush Sadeghnejad;

Received 14 June 2016; Revised 15 September 2016; Accepted 1 November 2016; Published 12 January 2017

Academic Editor: Katsuhiro Honda

Copyright © 2017 Hamed Navabi 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.


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.