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    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 [2] 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.
    Keywords: non-holonomic constraint, control, dry friction, viscous friction, stability, periodic solutions
    Citation: Borisov A. V., Kilin A. A., Mamaev I. S., How to control the Chaplygin ball using rotors. II, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 1, pp.  59-76

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