Fault Detection Algorithm based on Sliding-mode method for spherical Rolling Robots

Spherical rolling robot is a nonlinear non-holonomic system, due to its unique structure, thus it cannot be controlled using simple control methods. Also, several sensor and actuator faults may occur in the robot mechanism, thereby decreasing control performance. In this paper, a fault detection algorithm is proposed which is based on a sliding mode observer. In addition, a robust sliding-mode controller is designed for the spherical robot control based on Lyapunov stability theorem. In order to control the spherical robot, the controller guides the states towards the equilibrium point which is the desired position. The closed-loop system and fault detection algorithm are numerically simulated by MATLAB. The obtained results confirm the performance of the closed-loop system and fault detection algorithm.