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The pendulum has two input torques that allow it to take angles about the robot\u2019s transverse and longitudinal axes. Due to mechanical technicalities, it is assumed that these angles are immeasurable. First, a neural network observer is designed to estimate the pendulum angles. Then a modified sliding mode controller is proposed for the robot\u2019s tracking control in the presence of uncertainties. Next, the Lyapunov theorem is utilized to analyse the overall stability of the proposed scheme, including the convergence of the observer estimation and the trajectory tracking errors. Finally, simulation results are provided to indicate the effectiveness of the proposed method in comparison with the other available control approaches.<\/jats:p>","DOI":"10.1155\/2018\/3129398","type":"journal-article","created":{"date-parts":[[2018,10,16]],"date-time":"2018-10-16T23:30:48Z","timestamp":1539732648000},"update-policy":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Observer\u2010Based Sliding Mode Control for Path Tracking of a Spherical Robot"],"prefix":"10.1155","volume":"2018","author":[{"given":"Majid","family":"Taheri Andani","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-2131-2276","authenticated-orcid":false,"given":"Zahra","family":"Ramezani","sequence":"additional","affiliation":[]},{"given":"Saeed","family":"Moazami","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-3133-7119","authenticated-orcid":false,"given":"Jinde","family":"Cao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-3986-8205","authenticated-orcid":false,"given":"Mohammad Mehdi","family":"Arefi","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/summer-heart-0930.chufeiyun1688.workers.dev:443\/https\/orcid.org\/0000-0003-0332-808X","authenticated-orcid":false,"given":"Hassan","family":"Zargarzadeh","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2018,10,16]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"crossref","unstructured":"SeemanM. 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