Exponential stabilization of the rolling sphere

DOI10.1016/J.AUTOMATICA.2004.06.003MaRDI QIDQ1765166zbMATH OpenOpenAlexFDO

Authors 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)

Recommendations

• Exponential stabilization for nonlinear systems with applications to nonholonomic systems
• Exponential stabilization of non-holonomic systems: An ENI approach
• Exponential stabilization of nonholonomic systems by means of oscillating controls
• Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control
• Robust global exponential stabilization on the \(n\)-dimensional sphere with applications to trajectory tracking for quadrotors

Cites work

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

Cited in

(4)

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

This page was built for publication: Exponential stabilization of the rolling sphere

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1765166)