Geometric approach to tracking and stabilization for a spherical robot actuated by internal rotors
Provides a geometric control framework for spherical robots, which is relevant for robotics researchers working on nonholonomic systems.
The paper develops coordinate-free tracking control laws for a spherical robot with internal rotors, achieving orientation tracking via a modified trace potential and contact position tracking via a right transport map. Simulations demonstrate the effectiveness of the proposed laws.
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.