Design and Implementation of an Omnidirectional Spherical Mobile Platform

作者：Chiu Chih Hui^*; Tsai Wen Ru

来源：IEEE Transactions on Industrial Electronics, 2015, 62(3): 1619-1628.

DOI：10.1109/TIE.2014.2360078

• Lyapunov stability theorem
• Mamdani-type fuzzy controller (FC)
• omnidirectional spherical mobile platform (ODSMP)
• supervisory control

In this paper, an intelligent tracking control system (ITCS) is proposed for an omnidirectional spherical mobile platform (ODSMP) control problem. This intelligent tracking control system combined with a dual Mamdani-type fuzzy control strategy and supervisory control technique is proposed for ODSMPs real-world control with unknown system external disturbances. Then, this platform can move to any direction with no constraint. Since the dynamic characteristic of the spherical platform is nonlinear and time varying, an intelligent control method with little system information is designed. The stability of ITCS, which is based on the Lyapunov stability theorem, can be ensured without any strict constraint and detailed system knowledge such that it can flexibly extend to other control problems. In the end, the efficiency of the intelligent tracking control system is verified by ODSMP real-world implementation.

• 出版日期2015-3