Design of an adaptive sliding mode controller for a novel spherical rolling robot

This paper presents a novel spherical rolling robot and the design procedure of an adaptive sliding mode controller for the proposed robot. Towards containing the uncertainties, the sliding mode controller is utilized and simulation tests represent the effectiveness of this method. However, the chattering phenomenon in the robot operation is the main insufficiency of this controller. Hence, in order to present a more accurate controller, sliding mode controller is equipped with an identification method which works in an online manner for identifying the exact model of the robot. The provided identification procedure is based on Recursive Least Square approach, which is one of the most promising approaches toward identifying the model. It should be also noted that, this adaptive controller identify the model without taking into account any data from the derived model.