How to Control Chaplygin’s Sphere Using Rotors

    2012, Volume 17, Numbers 3-4, pp.  258-272

    Author(s): Borisov A. V., Kilin A. A., Mamaev I. S.

    In the paper we study the control of a balanced dynamically non-symmetric sphere with rotors. 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.
    Keywords: non-holonomic constraint, non-holonomic distribution, control, Chow–Rashevsky theorem, drift
    Citation: Borisov A. V., Kilin A. A., Mamaev I. S., How to Control Chaplygin’s Sphere Using Rotors, Regular and Chaotic Dynamics, 2012, Volume 17, Numbers 3-4, pp. 258-272

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