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Ballbot, which is designed to be dynamically stable on a single ball, has atractted great attention recently as a human iteractive mobile robot because of its super maneuverability. Due to its inherently unstable property and complex mathematical model, maintaining the balance as well as making the ballbot move without falling is challenging. In this research, a full 3D dynamical model, which is more reliable than its 2D counterpart is developed. Then, a robust super-twisting extended state observer-based sliding mode controller is designed to keep the ballbot balance. Various numerical simulations are carried out to verify the effectiveness of the proposed control strategy.

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Ballance Control of Ballbot - A Super-Twisting Extended Observer-Based Hierarchical Sliding Mode Control Approach

  • 会议论文

  • 发表日期：

    2026年

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  • Manh Linh Nguyen,
  • Dinh Anh Nguyen,
  • Minh Duc Nguyen,
  • Trong Bao Dao,
  • Quang Thanh Tran

摘要

Ballbot, which is designed to be dynamically stable on a single ball, has atractted great attention recently as a human iteractive mobile robot because of its super maneuverability. Due to its inherently unstable property and complex mathematical model, maintaining the balance as well as making the ballbot move without falling is challenging. In this research, a full 3D dynamical model, which is more reliable than its 2D counterpart is developed. Then, a robust super-twisting extended state observer-based sliding mode controller is designed to keep the ballbot balance. Various numerical simulations are carried out to verify the effectiveness of the proposed control strategy.