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    How to control the Chaplygin sphere using rotors

    2012, Vol. 8, No. 2, pp.  289-307

    Author(s): Borisov A. V., Kilin A. A., Mamaev I. S.

    In the paper we study control of a balanced dynamically nonsymmetric sphere with rotors. The no-slip condition at the point of contact is assumed. The algebraic contrability is shown and the control inputs providing motion of the ball along a given trajectory on the plane are found. For some simple trajectories explicit tracking algorithms are proposed.
    Keywords: non-holonomic constraint, non-holonomic distribution, control, Chow–Rashevsky theorem, drift
    Citation: Borisov A. V., Kilin A. A., Mamaev I. S., How to control the Chaplygin sphere using rotors, Rus. J. Nonlin. Dyn., 2012, Vol. 8, No. 2, pp.  289-307
    DOI:10.20537/nd1202006


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