Advanced Nonlinear Control for an Omnidirectional Spherical Robot Integrating Aerial and Ground Mobility

This paper presents an innovative control strategy for an overactuated omnidirectional spherical drone, capable of both flying and rolling on the ground. The control system, based on Feedback Local Optimality Control (FLOP), utilizes a comprehensive dynamic model that facilitates smooth transitions between flight and rolling modes, optimizing energy efficiency and enhancing maneuverability. Key features include an advanced decision-making mechanism for contact detection and a constrained control allocation algorithm that respects physical limitations. Virtual simulations have demonstrated the control system's robustness and responsiveness. This spherical drone design not only extends the capability to navigate complex environments but also enables energy conservation during ground transport.