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.
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