Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev ``How to control the Chaplygin ball using rotors. II

DOI10.1134/S1560354714010092zbMath1353.70059MaRDI QIDQ890395

Elena N. Pivovarova, Tatiana B. Ivanova

Publication date: 10 November 2015

Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1560354714010092

zbMATH Keywords

control; dry friction; spherical robot; Chaplygin's ball

Mathematics Subject Classification ID

93B05: Controllability

70Q05: Control of mechanical systems

37J35: Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests

37N35: Dynamical systems in control

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

93C15: Control/observation systems governed by ordinary differential equations

70E18: Motion of a rigid body in contact with a solid surface

37J30: Obstructions to integrability for finite-dimensional Hamiltonian and Lagrangian systems (nonintegrability criteria)

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Cites Work

• 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
• How to control Chaplygin's sphere using rotors
• Design and analysis of a spherical mobile robot