How to Control the Chaplygin Ball Using Rotors. II

    2013, Volume 18, Numbers 1-2, pp.  144-158

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

    In our earlier paper [3] we examined the problem of control of a balanced dynamically nonsymmetric sphere with rotors with no-slip condition at the point of contact. In this paper we investigate the controllability of a ball in the presence of friction. We also study the problem of the existence and stability of singular dissipation-free periodic solutions for a free ball in the presence of friction forces. The issues of constructive realization of the proposed algorithms are discussed.
    Keywords: non-holonomic constraint, control, dry friction, viscous friction, stability, periodic solutions
    Citation: Borisov A. V., Kilin A. A., Mamaev I. S., How to Control the Chaplygin Ball Using Rotors. II, Regular and Chaotic Dynamics, 2013, Volume 18, Numbers 1-2, pp. 144-158

    Access to the full text on the Springer website