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.

Voir la notice de l'article provenant de la source Math-Net.Ru

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},
     publisher = {mathdoc},
     volume = {10},
     number = {1},
     year = {2014},
     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
PB  - mathdoc
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
%I mathdoc
%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