Answers are grounded in this paper and cite their sources.
Geometric control of a spherical robot rolling on a horizontal plane with three independent inertia disc actuators is considered in this note. The dynamic model of the spherical robot in the geometric framework is used to establish the strong accessibility and small-time local controllability properties. Smooth stabilizability to an equilibrium fails for the nonholonomic spherical robot. A novel contribution of this note is a smooth, asymptotically stabilizing geometric control law for position and reduced attitude, which corresponds to an equilibrium submanifold of dimension one. From Brockett's condition, this is the best possible dimension of a smoothly stabilized equilibrium submanifold. We also present a novel smooth global tracking controller for tracking position trajectories.
No takes yet. Share an insight, caveat, or question.
Muralidharan et al. (2015) studied this question.
Synapse has enriched 10 related papers. Consider them for comparative context: