How to control the Chaplygin sphere using rotors

A. V. Borisov ; A. A. Kilin ; I. S. Mamaev

Russian journal of nonlinear dynamics, Tome 8 (2012) no. 2, pp. 289-307.

Résumé

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.

Détail

Keywords: non-holonomic constraint, non-holonomic distribution, control, Chow–Rashevsky theorem, drift.

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