Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller
classification
💻 cs.SY
cs.SYmath.DGmath.OC
keywords
controlcontrollerfeedforwardgeometricline-of-sightpositionproportional-derivativerobot
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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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