Motion control system and method for spherical robot in complex environment

The invention discloses a motion control system and method for a spherical robot in a complex environment, and the system comprises a limit angle estimation subsystem which is used for calculating a limit pendulum bob angle and a limit climbing angle when the spherical robot moves; the pendulum bob control subsystem is used for generating motion control information through a backstepping control law and a parameter adaptive adjustment law according to the motion environment parameters, the limit pendulum bob angle and the limit climbing angle so as to control the spherical robot to move in a complex environment; wherein the complex environment comprises a climbing road surface and a rugged road surface; control support is provided for the spherical robot to move on the slope, and the control problem of the spherical robot to move on the slope is solved; a similar climbing motion control method is provided for the motion process of the spherical robot on a rugged road surface, and the motion difficulty of the