How to control Chaplygin's sphere using rotors
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Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Nonholonomic dynamical systems (37J60) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic systems related to the dynamics of a system of particles (70F25) Constrained dynamics, Dirac's theory of constraints (70H45)
The paper studies the controllability of a dynamically non-symmetric balanced sphere moving over a plane. Internal rotors are used as a mechanism for control. The no-slip condition at the point of contact is assumed. The algebraic controllability is shown and the control inputs that steer the ball along a given trajectory on the plane are found. For some simple trajectories, explicit tracking algorithms are proposed.
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Cites work
- Conservation laws, hierarchy of dynamics and explicit integration of nonholonomic systems
- Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top
- Design and analysis of a spherical mobile robot
- Geometric phases in the motion of rigid bodies
- scientific article; zbMATH DE number 3786576 (Why is no real title available?)
- scientific article; zbMATH DE number 1944880 (Why is no real title available?)
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- Rubber rolling over a sphere
- Spacecraft attitude control and stabilization: Applications of geometric control theory to rigid body models
- Stabilization of an autonomous rolling sphere navigating in a labyrinth arena: A geometric mechanics perspective
- The dynamics of Chaplygin ball: the qualitative and computer analysis
- The Nonholonomy of the Rolling Sphere
Cited in
(67)- Closed-loop control of the motion of a sphere rolling on a moving horizontal plane
- Semi-globally exponential trajectory tracking for a class of spherical robots
- Optimal control of the motion of a helical body in a liquid using rotors
- The rolling motion of a truncated ball without slipping and spinning on a plane
- An inhomogeneous Chaplygin sleigh
- Chaplygin top with a periodic gyrostatic moment
- Dynamics-based motion planning for a pendulum-actuated spherical rolling robot
- The dynamics of a Chaplygin sleigh with an elastic internal rotor
- The Chaplygin sleigh with parametric excitation: chaotic dynamics and nonholonomic acceleration
- The problem of optimal control of a Chaplygin ball by internal rotors
- Rolling of a ball without spinning on a plane: the absence of an invariant measure in a system with a complete set of integrals
- A particular integrable case in the nonautonomous problem of a Chaplygin sphere rolling on a vibrating plane
- Motion control of the spherical robot rolling on a vibrating plane
- Two nonholonomic chaotic systems. II: On the rolling of a nonholonomic bundle of two bodies
- Stability and stabilization of steady rotations of a spherical robot on a vibrating base
- Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
- On the normal force and static friction acting on a rolling ball actuated by internal point masses
- Qualitative analysis of the nonholonomic rolling of a rubber wheel with sharp edges
- On final motions of a Chaplygin ball on a rough plane
- Control of the motion of a helical body in a fluid using rotors
- Regular and chaotic dynamics in the rubber model of a Chaplygin top
- Experimental investigations of the controlled motion of a screwless underwater robot
- Spiral chaos in the nonholonomic model of a Chaplygin top
- Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body
- The problem of drift and recurrence for the rolling Chaplygin ball
- The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
- The dynamics and control of a spherical robot with an internal omniwheel platform
- Dynamics and control of an omniwheel vehicle
- Dynamics of the Chaplygin sleigh on a cylinder
- Spherical robot of combined type: dynamics and control
- Qualitative analysis of the dynamics of a wheeled vehicle
- Adiabatic invariants, diffusion and acceleration in rigid body dynamics
- On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors
- How to control the Chaplygin ball using rotors. II
- The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
- Spinorial method of terminal control of spatial rotations
- The dynamics of a forced sphere-plate mechanical system
- Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics
- Stability analysis of steady motions of a spherical robot of combined type
- Invariant Submanifolds of Genus 5 and a Cantor Staircase in the Nonholonomic Model of a Snakeboard
- Inverse dynamics-based motion control of a fluid-actuated rolling robot
- Quaternion model of programmed control over motion of a Chaplygin ball
- Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid
- Fermi-like acceleration and power-law energy growth in nonholonomic systems
- Comment on the paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev “How to control the Chaplygin ball using rotors. II”
- Controllability and motion planning of a multibody Chaplygin's sphere and Chaplygin's top
- Dynamics of the nonholonomic Suslov problem under periodic control: unbounded speedup and strange attractors
- A geometric motion planning for a spin-rolling sphere on a plane
- Spherical Robots: An Up-to-Date Overview of Designs and Features
- Comparative Analysis of the Dynamics of a Spherical Robot with a Balanced Internal Platform Taking into Account Different Models of Contact Friction
- Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target
- Impulsive control of a symmetric ball rolling without sliding or spinning
- Almost-Poisson brackets for nonholonomic systems with gyroscopic terms and Hamiltonisation
- Control of a spherical robot with a nonholonomic omniwheel hinge inside
- Reinforcement learning in the task of spherical robot motion control
- How to control the Chaplygin sphere using rotors
- The problem of optimal control of a Chaplygin ball by internal rotors
- How to control the Chaplygin ball using rotors. II
- Dynamics and control of a spherical robot with an axisymmetric pendulum actuator
- Controlled motion of a spherical robot with feedback. II.
- Control of the motion of a triaxial ellipsoid in a fluid using rotors
- Experimental observation of stabilization of tippe top spinning on a vibrating plane
- Controlled motion of a spherical robot with feedback. I
- Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II
- The dynamics of systems with servoconstraints. II
- On the control of a robot ball using two omniwheels
- Experimental investigation of the motion of a body with an axisymmetric base sliding on a rough plane
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