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In this paper we present a geometric control law for position andline-of-sight stabilization of the nonholonomic spherical robot actuated bythree independent actuators. A simple configuration error function with anappropriately defined transport map is proposed to extract feedforward andproportional-derivative control law. Simulations are provided to validate thecontroller performance.

Position and line-of-sight stabilization of spherical robot using feedforward proportional-derivative geometric controller