How to control the Chaplygin ball using rotors. II
2013, Vol. 9, No. 1, pp. 59-76
Author(s): Borisov A. V., Kilin A. A., Mamaev I. S.
In our earlier paper  we examined the problem of control of a balanced dynamically nonsymmetric sphere with rotors with no-slip condition at the point of contact. In this paper we investigate the controllability of a ball in the presence of friction. We also study the problem of the existence and stability of singular dissipation-free periodic solutions for a free ball in the presence of friction forces. The issues of constructive realization of the proposed algorithms are discussed.
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