  This paper presents tracking control laws for two different objectives of a
nonholonomic system - a spherical robot - using a geometric approach. The first
control law addresses orientation tracking using a modified trace potential
function. The second law addresses contact position tracking using a $right$
transport map for the angular velocity error. A special case of this is
position and reduced orientation stabilization. Both control laws are
coordinate free. The performance of the feedback control laws are demonstrated
through simulations.
