Modelling and control of the motion of a rolling disk: Effect of motor dynamics on the dynamical model

DOI10.1016/S0045-7825(99)00287-XzbMath0965.70039MaRDI QIDQ1579623

P. D. Kemp, Yaakov Yavin

Publication date: 5 August 2001

Published in: Computer Methods in Applied Mechanics and Engineering (Search for Journal in Brave)

zbMATH Keywords

asymptotic trackingstabilizationnonholonomic constraintsrolling diskpedalling torqueDC motorcontrolled slender rodmotors dynamics

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Motion of a rigid body in contact with a solid surface (70E18)

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Stabilization and positioning control of a rolling disk by using the Bogdanov-Takens bifurcation ⋮ Modelling the motion of a disk rolling on a curve in \(\mathbb R^3\): the case where the motion is driven by using two overhead rotors ⋮ Control of the motion of a disk rolling on a curve in \(\mathbb R^3\)

Cites Work

• On the motion of a disc rolling on a horizontal plane: Path controllability and feedback control
• On a horizontal version of the inverse pendulum problem
• Inclination control of the motion of a rolling disk by using a rotor
• Closed-loop control of the motion of a disk-rod system
• The motion of a disk rolling on a vibrating horizontal plane: Feasible control and path controllability
• Stabilization and control of the motion of a rolling disk by using two rotors fixed along its axis
• Open loop strategies for the control of a disk rolling on a horizontal plane
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