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arXiv · 1705.05660

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
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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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Krishna Chaitanya Kosaraju, Arun D. Mahindrakar, Vijay Muralidharan, Anup K. Ekbote, Ramkrishna Pasumarthy. 2017-05-16. Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller. https://arxiv.org/abs/1705.05660

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