In this paper, a controller is designed to achieve tracking of a pendulum-driven spherical robot about a desired trajectory in the presence of model uncertainty and external disturbances. A methodology is proposed to design a feedforward controller for the spherical robot by approximating the desired trajectory using circles as basis functions. A linear state-feedback controller is used to drive the perturbations from the desired trajectory to zero. Numerical simulations show that the controller realizes tracking of the desired trajectory with perturbed initial conditions.

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