Exponential stabilization of the rolling sphere

DOI10.1016/J.AUTOMATICA.2004.06.003zbMATH Open1059.93109OpenAlexW2166565410MaRDI QIDQ1765166FDOQ1765166

Tuhin Das, Ranjan Mukherjee

Publication date: 23 February 2005

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2004.06.003

zbMATH Keywords

Euler anglesRolling sphereNonholonomic systemsExponential stabilization

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Stabilization of systems by feedback (93D15) Motion of a rigid body in contact with a solid surface (70E18)

Cites Work

• Nonholonomic mechanical systems with symmetry
• Nonlinear systems.
• Global asymptotic stabilization for controllable systems without drift
• Rolling bodies with regular surface: Controllability theory and applications
• Control and stabilization of nonholonomic dynamic systems
• Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift
• Nonlinear attitude and shape control of spacecraft with articulated appendages and reaction wheels.

Cited In (4)

• Design and analysis of a spherical mobile robot
• A geometric motion planning for a spin-rolling sphere on a plane
• Constrained stabilization on the \(n\)-sphere
• Global stabilization of spherical orientation by synergistic hybrid feedback with application to reduced-attitude tracking for rigid bodies

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