This article proposes a novel adaptive backstepping hierarchical sliding mode control with
balance and transfer for a ridable ballbot. The algorithm is applied to the dynamics of …

In this letter, a novel dual-ball self-balancing robot is proposed for the first time. Different
from the operating principle of the traditional single-ball self-balancing robot, the dual-ball …

A ballbot is a mobile robot with the ability to simultaneously move and balance on a
spherical ball. In this study, we proposed control algorithms to stabilize the decoupled …

A ridable ballbot has unstable underactuated dynamics with nonholonomic velocity
constraints and input coupling case. Such a robot can carry people and move in any …

In this paper, experimental results about the performance of a Takagi–Sugeno Fuzzy
Controller (TSFC) for an EV3 Ballbot Robotic System (EV3BRS) are reported. The physical …

This research proposes a nonlinear adaptive controller based on a hierarchical sliding
mode control (HSMC) framework to stabilize the operation of a ridable ballbot based on the …

The BallBot, a versatile robot system, finds applications in various domains of life. It
comprises a frame moved by three wheels mounted on a ball. The robot performance is …

A ballbot has free mobility to move in all directions. It is a typical example of a dynamic
system with an unstable equilibrium point, and thus it is important to design a reliable control …