Omni-directional spherical mobile system control

In this study, an omni-directional spherical mobile system (ODSMS) based on a dual Mamdani-type fuzzy control strategy (DMTFCS) is implemented. The key feature of this robot is it can move directly in any direction with no constraint. Since the dynamic characteristic of the ODSMS is highly nonlinear, a fuzzy control strategy without system information is designed. The stability of DMTFC system, which is based on the Lyapunov stability theorem, can be ensured without any strict constraint. The effectiveness of the proposed control system is verified by ODSMS real-world implementation.