Algoritmo di controllo per un robot sferico non-lineare che rotola su una superficie piana in simulazione MATLAB

In recent years, the advancement of robotics has enabled the development of autonomous embedded systems with a wide range of applications. This thesis presents a control system for a spherical robot, which consists of an external spherical shell and two actuators—a pendulum and a yoke—that allow the robot to move on various surfaces. The primary advantage of this robot is that all internal components, such as microcontrollers, sensors, and actuators, are contained and protected by the external shell, making it more robust against impacts and reducing the hardware required for its production. On the other hand, it is an under-actuated and nonlinear system hard to control. This thesis presents solutions implemented in a MATLAB simulation to make the robot follow simple paths, such as straight lines or circles, on a flat surface.