How to control Chaplygin's sphere using rotors (Q691236)

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.