How to control Chaplygin's sphere using rotors (Q691236)
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scientific article; zbMATH DE number 6111437
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| English | How to control Chaplygin's sphere using rotors |
scientific article; zbMATH DE number 6111437 |
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How to control Chaplygin's sphere using rotors (English)
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30 November 2012
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The paper studies the controllability of a dynamically non-symmetric balanced sphere moving over a plane. Internal rotors are used as a mechanism for control. The no-slip condition at the point of contact is assumed. The algebraic controllability is shown and the control inputs that steer the ball along a given trajectory on the plane are found. For some simple trajectories, explicit tracking algorithms are proposed.
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non-holonomic contraint
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symmetries
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invariant manifolds
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0.9171246
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0.8563063
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0.8538703
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0.85238314
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0.8313551
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