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

## TL;DR

This paper introduces a geometric control law for stabilizing the position and line-of-sight of a spherical robot, utilizing a feedforward proportional-derivative controller based on a novel configuration error function, validated through simulations.

## Contribution

The paper presents a new geometric control law with a simple configuration error function for spherical robot stabilization, incorporating feedforward and PD control, validated via simulations.

## Key findings

- Effective stabilization of spherical robot demonstrated in simulations
- Controller achieves position and line-of-sight stabilization
- Proposed method simplifies control design for nonholonomic robots

## 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.