Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller
Systems and Control
2017-05-18 v1 Differential Geometry
Optimization and Control
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.
Keywords
Cite
@article{arxiv.1705.05660,
title = {Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller},
author = {Krishna Chaitanya Kosaraju and Arun D. Mahindrakar and Vijay Muralidharan and Anup K. Ekbote and Ramkrishna Pasumarthy},
journal= {arXiv preprint arXiv:1705.05660},
year = {2017}
}
Comments
Published in Indian Control Conference, Indian Institute of Technology Madras, January 5-7, 2015. Chennai, India