How to control the Chaplygin ball using rotors. II

Alexey V. Borisov ; Alexander A. Kilin ; Ivan S. Mamaev

Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 59-76.

Résumé

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.

Détail

Keywords: non-holonomic constraint, control, dry friction, stability, periodic solutions.
Mots-clés : viscous friction

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