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A robust and adaptive controller for ballbots
Ballbot is a unique kind of robot with great mobility and possesses the ability to go in all directions. Obviously, controlling such a robotic device must be tricky. Indeed, ballbot systems pose unique challenges, particularly in the form of the difficulty of maintaining balance and stability in dynamic and uncertain environments. Traditional proportional integral derivative (PID) controllers struggle with these challenges, and other advanced methods, like sliding mode control, introduce issues like chattering. Therefore, there