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Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller
Published 16 May 2017 in cs.SY, math.DG, and math.OC | (1705.05660v1)
Abstract: 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.
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