Modelling of the robotic Powerball^ : a nonholonomic, underactuated and variable structure-type system

DOI10.1080/13873954.2010.484237MaRDI QIDQ3072340zbMATH OpenOpenAlexWikidataFDO

Authors Tadej Petrič, Boris Curk, Peter Cafuta, Leon Žlajpah

Publication date 3 February 2011

Published in Mathematical and Computer Modelling of Dynamical Systems (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/10.1080/13873954.2010.484237

zbMATH Keywords

modellingdynamic systemdynamical analysisgyroscopic devicenonholonomic loadrhythmic motion

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Dynamics of multibody systems (70E55) Control of mechanical systems (70Q05) Adaptive control/observation systems (93C40) Nonholonomic dynamical systems (37J60)

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Cites work

• Magic angle chaotic precession
• On the Dynamics of the Dynabee
• Regulation and tracking of the nonholonomic double integrator: A field-oriented control approach

Cited in

(2)

• Intrinsic dynamics and total energy-shaping control of the ballbot system
• Dynamic modeling and stability analysis of a power-generating tumbleweed rover

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