Balancing and driving control of a ball robot using fuzzy control

This paper proposes a balancing and driving control system of ball robot using fuzzy control system. This robot using Mecanum wheel has two axis structure and four motors. Ball robot adopted a mechanical modeling by using the Lagrange equation. And inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. Using the AHRS sensor and this balancing fuzzy control algorithm has been adopted with angles of the wheels and the encoder data. All the fuzzy rule table of the controller is heuristically adjusted during the experiments. The performance of the designed control system has been verified through the real experiments with the suggested ball robot. Lastly verifying the result of the balancing and driving through the proposed control method and efficiency about the ball robot.