Modelling and control of the motion of a disk rolling on a spherical dome (Q1876754)

The paper deals with the modelling and control of a disk rolling without slipping on a rigid spherical dome. It is assumed that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. This work is a continuation and an extension of two previous papers by the same author. A dynamical model describing the motion of the rolling disk is derived. By using a kind of inverse control transformation, a procedure for the design of feedback control laws (for the pedalling moment, the tilting moment and the directional moment) is proposed. As a result the disk motion will be stabilized while simultaneously controlling its speed and direction in such a manner that the disk will be able to asymptotically track any smooth trajectory which is located on the given terrain.