Motion Control Design for Dynamic Spherical Mobile Robot via Fuzzy Control Approach

Abstract

To be able to interact with humans, multiple rounds of statically stabilized mobile robots must have a low center of gravity and a large bottom area to avoid the robot tipping. This paper considers a dynamic spherical mobile robot (DSMR) system to overcome these mechanism limitations. To design the controller and system characteristic analysis, this paper proposes a motion controller design method which comprises a PD angle controller and a fuzzy position controller for the DSMR system. The PD angle controller can achieve the balance of movement control responses and the fuzzy position controller can achieve the favorable position control responses. Meanwhile, a steering controller is designed to obtain the robot rotation ability. Finally, the experimental results verifies that the proposed motion control system can achieve a good dynamic balance effect for the DSMR system even when there is an external force to push the robot.