Adaptive Fuzzy Controller for Ballbot with Complex Uncertainties

The present study introduces an adaptive fuzzy controller designed specifically for a ballbot system that incorporates uncertainties. The suggested methodology involves the construction of an adaptive fuzzy controller that aims to acquire the desirable characteristics of rapid response, finite-time convergence, and avoidance of singularities. The adaptive fuzzy controller's parameters are continuously changed in order to effectively mitigate uncertainty and decrease errors. The Lyapunov synthesis method ensures the stability of the ballbot system. Ultimately, a series of simulations are performed in order to showcase the efficacy of the adaptive fuzzy controller in comparison to the fuzzy logic controller.