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

Table 2

Fuzzy rules for first fuzzy controller.

	NB	NS	Z	PS	PB
NB	PL	PM	PS	PS	Z
NS	PM	PS	PS	Z	Z
Z	PM	PS	Z	NS	NM
PS	Z	Z	NS	NS	NM
PB	Z	NS	NS	NM	NL