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Geometric approach to tracking and stabilization for a spherical robot actuated by internal rotors

This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential function. The second law addresses contact position tracking using a $right$ transport map for the angular velocity error. A special case of this is position and reduced orientation stabilization. Both control laws are coordinate free. The performance of the feedback control laws are demonstrated through simulations.

preprint2016arXivOpen access
Sneha GajbhiyeRavi N. Banavar
Systems and Control
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Sneha GajbhiyeRavi N. Banavar

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