Implementation of servo-constraints in problem of controlling spherical robot with pendulum actuator

DOI10.1007/S10958-025-08091-7MaRDI QIDQ6873614zbMATH OpenFDO

Authors Evgeniya A. Mikishanina

Publication date 16 January 2026

Published in Journal of Mathematical Sciences (New York) (Search for Journal in Brave)

zbMATH Keywords

nonholonomic systemcontrol torquependulum actuatorrobot rollingstraight-line motion controlVeselova/Suslov constraint

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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