Skip to main content
SpringerLink
Log in

Adaptive Fuzzy Hierarchical Sliding Mode Control for Ball Segway

  • Published:
Automatic Control and Computer Sciences Aims and scope Submit manuscript

Abstract

This paper proposes an adaptive fuzzy hierarchical sliding mode controller (AFHSMC) for a ball segway. A ballbot-type personal carrier robot, the ball segway is a nonlinear, under-actuated system. As a challenge in control problems, this robot follows a desired trajectory while remaining balanced. The dynamic model of the ball segway is built from the Euler–Lagrange equation. The proposed controller is designed using the hierarchical sliding mode control (HSMC) method. In addition, the controller’s parameters are adjusted to compensate for model errors and external disturbances via the Sugano fuzzy model. The stability of the closed-loop control system for the ball segway is also analyzed according to Lyapunov criteria. Simulation results demonstrate the effectiveness of the proposed approach, such as exact robot movements and minor body tilt angles. Moreover, the proposed method yields significantly better results than the previous HSMC method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.
Fig. 8.
Fig. 9.

Similar content being viewed by others

REFERENCES

  1. Pham, D.B., Kim, H., Kim, J., and Lee, S.-G., Balancing and transferring control of a ball segway using a double-loop approach [applications of control], IEEE Control Syst., 2018, vol. 38, no. 2, pp. 15–37. https://doi.org/10.1109/MCS.2017.2786444

    Article  MATH  Google Scholar 

  2. Pham, D.B. and Lee, S.-G., Hierarchical sliding mode control for a two-dimensional ball segway that is a class of a second-order underactuated system, J. Vib. Control, 2018, vol. 25, no. 1, pp. 72–83. https://doi.org/10.1177/1077546318770089

    Article  Google Scholar 

  3. Tsai, Ch.-Ch., Juang, M.-H., Chan, Ch.-K., Liao, Ch.-W., and Chan, S.-J., Self-balancing and position control using multi-loop approach for ball robots, IEEE Conf. on Systems Science and Engineering, Taipei, Taiwan, 2010, IEEE, 2010, pp. 251–256. https://doi.org/10.1109/ICSSE.2010.5551789

  4. Sukvichai, K. and Parnichkun, M., Double-level ball-riding robot balancing: From system design, modeling, controller synthesis, to performance evaluation, Mechatronics, 2014, vol. 24, no. 5, pp. 519–532. https://doi.org/10.1016/j.mechatronics.2014.06.003

    Article  Google Scholar 

  5. Ba, P.D., Lee, S.-G., Back, S., Kim, J., and Lee, M.K., Balancing and translation control of a ball segway that a human can ride, 16th Int. Conf. on Control, Automation and Systems (ICCAS), Gyeongju, Korea, 2106, IEEE, 2016, pp. 477–480. https://doi.org/10.1109/ICCAS.2016.7832362

  6. Pham, D.B. and Lee, S.-G., Aggregated hierarchical sliding mode control for a spatial ridable ballbot, Int. J. Precis. Eng. Manuf., 2018, vol. 19, pp. 1291–1302. https://doi.org/10.1007/s12541-018-0153-5

    Article  Google Scholar 

  7. Pham, D.B., Kim, J., and Lee, S.-G., Combined control with sliding mode and Partial feedback linearization for a spatial ridable ballbot, Mech. Syst. Signal Process., 2019, vol. 128, pp. 531–550. https://doi.org/10.1016/j.ymssp.2019.04.008

    Article  Google Scholar 

  8. Pham, D.B., Weon, I.-S., and Lee, S.-G., Partial feedback linearization double-loop control for a pseudo-2D ridable ballbot, Int. J. Control, Autom. Syst., 2020, vol. 18, pp. 1310–1323. https://doi.org/10.1007/s12555-018-0854-7

    Article  Google Scholar 

  9. Qian, D., Yi, J., and Zhao, D., Hierarchical sliding mode control for a class of SIMO under-actuated systems, Control Cybern., 2008, vol. 37, no. 1, pp. 159–175.

    MATH  Google Scholar 

  10. Le, H.X., Nguyen, T.V., Le, A.V., Phan, T.A., Nguyen, N.G., and Phan, M.X., Adaptive hierarchical sliding mode control using neural network for uncertain 2D overhead crane, Int. J. Dyn. Control, 2019, vol. 7, pp. 996–1004. https://doi.org/10.1007/s40435-019-00524-x

    Article  Google Scholar 

  11. Hai, L.X., Nguyen, T.H., Khanh, T.G., Thanh, N.T., Duong, B.T., and Minh, P.X., Anti-sway tracking control of overhead crane system based on PID and fuzzy sliding mode control, J. Sci. Technol., 2017, vol. 55, no. 1, pp. 116–127.  https://doi.org/10.15625/0866-708X/55/1/7920

    Article  Google Scholar 

  12. J. Blonk, Modeling and control of a ball-balancing robot, Internship & Master Thesis, Faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS), 2014.

  13. Lal, A. and Codrean, L., and Buşoniu, L., Sliding mode control of a ball balancing robot, IFAC-PapersOnLine, 2020, vol. 53, no. 2, pp. 9490–9495. https://doi.org/10.1016/j.ifacol.2020.12.2424

    Article  Google Scholar 

  14. Do, V.-T., Lee, S.-G., and Kim, J.-H., Robust integral backstepping hierarchical sliding mode controller for a ballbot system, Mech. Syst. Signal Process., 2020, vol. 144, p. 106866. https://doi.org/10.1016/j.ymssp.2020.106866

    Article  Google Scholar 

Download references

ACKNOWLEDGMENTS

We would like to thank colleagues in the Hight performance simulation and computing (HPC) laboratory for their support during the research conducted at Hanoi University of Industry, Vietnam.

Author information

Authors and Affiliations

  1. Department of Automation, Industrial University of Ho Chi Minh City, Ho Chi Minh City, Vietnam

    U. T. T. Hoang

  2. International School, Vietnam National University, Hanoi, Vietnam

    T. D. Kim & H. X. Le

  3. School of Electrical Engineering, Ha Noi University of Science and Technology, Hanoi, Vietnam

    D. X. Pham & M. X. Phan

  4. Faculty of Information Technology, Hanoi University of Industry, Hanoi, Vietnam

    T. V. Nguyen

Authors
  1. U. T. T. Hoang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. T. D. Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. H. X. Le
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. D. X. Pham
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. M. X. Phan
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. T. V. Nguyen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to T. D. Kim or H. X. Le.

Ethics declarations

The authors declare that they have no conflicts of interest.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Hoang, U.T., Kim, T.D., Le, H.X. et al. Adaptive Fuzzy Hierarchical Sliding Mode Control for Ball Segway. Aut. Control Comp. Sci. 56, 519–532 (2022). https://doi.org/10.3103/S0146411622060050

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S0146411622060050

Keywords:

Search

Navigation