Geodesic
How to control the Chaplygin sphere using rotors
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 2, pp. 289-307

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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. 
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     title = {How to control the {Chaplygin} sphere using rotors},
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A. V. Borisov; A. A. Kilin; I. S. Mamaev. How to control the Chaplygin sphere using rotors. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 2, pp. 289-307. http://geodesic.mathdoc.fr/item/ND_2012_8_2_a5/