Abstract
For the spherical robot, a convenient and efficient velocity controller that can be applied to multiple terrains is of great importance. This controller also needs to be applied to the velocity control of spherical robot whether the robot is going straight or turning. In response to the above requirements, we propose a new hierarchical sliding mode controller (HSMC). A more accurate dynamic model is established in order to improve the control effect. We have designed new layer sliding surfaces, which can improve the control effect and stability. The practical experiments show that, compared with PID controller, the HSMC has shorter rise time and setting time, greater control performance and stronger robustness in velocity tracking of the robot, whether the robot is going straight or turning.
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