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)

Full work available at URL https://doi.org/10.1007/S10958-025-08091-7

zbMATH Keywords

control torquenonholonomic systempendulum 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)

Cites work

• Control of a spherical robot with a nonholonomic omniwheel hinge inside
• Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
• Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target
• On inhomogeneous nonholonomic Bilimovich system
• Rolling motion dynamics of a spherical robot with a pendulum actuator controlled by the Bilimovich servo-constraint
• Rolling of a rigid body without slipping and spinning: kinematics and dynamics
• Stability and stabilization of steady rotations of a spherical robot on a vibrating base
• Stabilization of steady rotations of a spherical robot on a vibrating base using feedback
• Statique et dynamique. 2 vols.
• Sur les systèmes conservatifs non holonomes avec des liaisons dépendantes du temps.
• The dynamics of systems with servoconstraints. I
• The dynamics of systems with servoconstraints. II
• Traité de mécanique rationnelle. Tome deuxième: Dynamique des systèmes. -- Mécanique analytique.
• Two non-holonomic integrable problems tracing back to Chaplygin

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