Geodesic
Comment on the paper by A.\,V.~Borisov, A.\,A.~Kilin, I.\,S.~Mamaev “How to control the Chaplygin ball using rotors.~II”
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 1, pp. 127-132

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In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.
Keywords: control, dry friction, Chaplygin’s ball, spherical robot. 
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     author = {Tatyana B. Ivanova and Elena N. Pivovarova},
     title = {Comment on the paper by {A.\,V.~Borisov,} {A.\,A.~Kilin,} {I.\,S.~Mamaev} {{\textquotedblleft}How} to control the {Chaplygin} ball using {rotors.~II{\textquotedblright}}},
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Tatyana B. Ivanova; Elena N. Pivovarova. Comment on the paper by A.\,V.~Borisov, A.\,A.~Kilin, I.\,S.~Mamaev “How to control the Chaplygin ball using rotors.~II”. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 1, pp. 127-132. http://geodesic.mathdoc.fr/item/ND_2014_10_1_a8/