Self-balancing control using Wavelet Fuzzy CMAC for uncertain omnidirectional ball-driven vehicles

This paper presents a self-balancing controller using Wavelet Fuzzy CMAC (WFCMAC) technology for uncertain omnidirectional ball-driven vehicle. The vehicle is designed to self-balancing and motion control by following the rider´s inclination angles in both two axes (x-z and y-z axis). The backstepping technique with WFCMAC for nonlinear model will be designed to overcome significant system uncertainties. WFCMAC is designed in order to achieve self-balancing for the vehicle with different unknown frictions between the wheel and the terrain surfaces. The performance and merit of the proposed method are well exemplified by conducting simulations on a laboratory-built omnidirectional ball-driven vehicle.