Modelling and control of the motion of a disk rolling on a spherical dome

DOI10.1016/S0895-7177(02)00060-2zbMath1066.93038MaRDI QIDQ1876754

Yaakov Yavin

Publication date: 20 August 2004

Published in: Mathematical and Computer Modelling (Search for Journal in Brave)

zbMATH Keywords

tracking; asymptotic stability; nonholonomic constraints; rolling disk; spherical dome

Mathematics Subject Classification ID

93B51: Design techniques (robust design, computer-aided design, etc.)

93C85: Automated systems (robots, etc.) in control theory

93D20: Asymptotic stability in control theory

70Q05: Control of mechanical systems

70F25: Nonholonomic systems related to the dynamics of a system of particles

Related Items

Control of the motion of a disk rolling on a curve in \(\mathbb R^3\), Modelling of the motion of a disk rolling on a torus., 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, The motion of a car moving on a terrain: a kinematic model

Cites Work

• On a horizontal version of the inverse pendulum problem
• Stabilization and control of the motion of a rolling disk
• Modelling of the motion of a disk rolling on a smooth rigid surface
• Stabilization and path controllability of the motion of a rolling disk by using two overhead rotors
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