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 Cet article a éte moissonné depuis la source Math-Net.Ru

Voir la notice de l'article

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. 
@article{ND_2014_10_1_a8,
     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}}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {127--132},
     year = {2014},
     volume = {10},
     number = {1},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2014_10_1_a8/}
}
TY  - JOUR
AU  - Tatyana B. Ivanova
AU  - Elena N. Pivovarova
TI  - Comment on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev “How to control the Chaplygin ball using rotors. II”
JO  - Russian journal of nonlinear dynamics
PY  - 2014
SP  - 127
EP  - 132
VL  - 10
IS  - 1
UR  - http://geodesic.mathdoc.fr/item/ND_2014_10_1_a8/
LA  - ru
ID  - ND_2014_10_1_a8
ER  - 
%0 Journal Article
%A Tatyana B. Ivanova
%A Elena N. Pivovarova
%T Comment on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev “How to control the Chaplygin ball using rotors. II”
%J Russian journal of nonlinear dynamics
%D 2014
%P 127-132
%V 10
%N 1
%U http://geodesic.mathdoc.fr/item/ND_2014_10_1_a8/
%G ru
%F ND_2014_10_1_a8
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/

[1] Alves J., Dias J., “Design and control of a spherical mobile robot”, J. Systems and Control Engineering, 217 (2003), 457–467

[2] Borisov A. V., Kilin A. A., Mamaev I. S., “Kak upravlyat sharom Chaplygina pri pomoschi rotorov”, Nelineinaya dinamika, 8:2 (2012), 289–307 | MR

[3] Borisov A. V., Kilin A. A., Mamaev I. S., “Kak upravlyat sharom Chaplygina pri pomoschi rotorov, II”, Nelineinaya dinamika, 9:1 (2013), 59–76

[4] Camicia C., Conticelli F., Bicchi A., “Nonholonimic kinematics and dynamics of the sphericle”, Proc. of the 2000 IEEE/RSJ Internat. Conf. on Intelligent Robots and Systems (2000), 805–810

[5] Joshi V. A., Banavar R. N., “Motion analysis of a spherical mobile robot”, Robotica, 27:3 (2009), 343–353 | DOI

[6] Joshi V. A., Banavar R. N., Hippalgaonkar R., “Design and analysis of a spherical mobile robot”, Mech. Mach. Theory, 45 (2010), 130–136 | DOI | Zbl

[7] Koshiyama A., Yamafuji K., “Design and control of an All-direction Steering Type Mobile Robot”, Int. J. Robot. Res., 12:5 (1993), 411–419 | DOI

[8] Sang S., Zhao J., Wu H., Chen S., An Q., “Modeling and simulation of a spherical mobile robot”, Computer Science and Information Systems, 7:1 (2010), 51–62 | DOI

[9] Svinin M., Morinaga A., Yamamoto M., “On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors”, Regul. Chaotic Dyn., 18:1–2 (2013), 126–143 | DOI | MR | Zbl

[10] Tomik F., Nudehi S., Flynn L. L., Mukherjee R., “Design, fabrication and control of Spherobot: a spherical mobile robot”, J. Intell. Robot. Syst., 67:2 (2012), 117–131 | DOI