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