Geodesic
How to control the Chaplygin ball using rotors. II
Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 59-76

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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, stability, periodic solutions.
Mots-clés : viscous friction 
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     author = {Alexey V. Borisov and Alexander A. Kilin and Ivan S. Mamaev},
     title = {How to control the {Chaplygin} ball using rotors. {II}},
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Alexey V. Borisov; Alexander A. Kilin; Ivan S. Mamaev. How to control the Chaplygin ball using rotors. II. Russian journal of nonlinear dynamics, Tome 9 (2013) no. 1, pp. 59-76. http://geodesic.mathdoc.fr/item/ND_2013_9_1_a5/