Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top

DOI10.1002/rnc.1259zbMath1284.93044OpenAlexW2133953042MaRDI QIDQ5405766

Anthony M. Bloch, Jinglai Shen, David A. Schneider

Publication date: 3 April 2014

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.1259

zbMATH Keywords

controllabilitynonholonomic systemsmotion planning

Mathematics Subject Classification ID

Controllability (93B05) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

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Cites Work

• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Configuration Controllability of Simple Mechanical Control Systems