针对球形机器人运动强烈的非线性，考虑自主研制的软壳体球形机器人弹性变形特性和与地面接触状态的不同，为了对球形机器人的纵向运动位置和姿态进行镇定控制，研究设计一种基于反馈线性化方法的控制器。基于动力学普遍原理建立球形机器人纵向纯滚动的动力学模型，通过对模型分析得到了该机器人运动性能优于硬质球壳机器人的结论。通过对系统的能量分析，提出一种适用于多输入多输出系统的反馈线性化控制方法，保证机器人纵向滚过角度跟踪期望值的同时收敛到稳定姿态。通过Matlab-Simulink仿真验证了该控制器的有效性。

A controller based on feedback linearization is designed in order to make the spherical robot’s longitudinal motion track the expected location considering strongly nonlinear motion of the spherical robot and the difference of flexible deformation and status of interface between rigid shell and soft shell. A dynamic model is advanced on longitudinal motion for the robot rolling with no-slip based on dynamic general principle. The conclusion is drawn that the performance of motion of the robot with soft shell is better than the rigid one according to the analysis on the dynamic model. A control algorithm based on feedback linearization is proposed applicable to the multi-input & multi-output system which ensures the robot tracking the expected angle with stable pose. The validity of the controller designed is verified by Matlab-Simulink.