Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller
Krishna Chaitanya Kosaraju, Arun D. Mahindrakar, Vijay Muralidharan, Anup K. Ekbote, Ramkrishna Pasumarthy
arXiv:1705.05660h-index: 17
AI Analysis
This work addresses control challenges for spherical robots, but the contribution is incremental as it combines existing geometric control techniques with a new error function.
The paper presents a geometric control law for position and line-of-sight stabilization of a nonholonomic spherical robot, validated through simulations.
In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined transport map is proposed to extract feedforward and proportional-derivative control law. Simulations are provided to validate the controller performance.