How to control the Chaplygin ball using rotors. II

被引：53
|
作者：
Borisov, Alexey V. [1 ]
Kilin, Alexander A.
Mamaev, Ivan S.
机构：
[1] Udmurt State Univ, Inst Comp Sci, Lab Nonlinear Anal & Design New Types Vehicles, Izhevsk 426034, Russia
来源：
REGULAR & CHAOTIC DYNAMICS | 2013年 / 18卷 / 1-2期
关键词：
non-holonomic constraint; control; dry friction; viscous friction; stability; periodic solutions; SPHERE; MOTION;
D O I：
10.1134/S1560354713010103
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
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.
引用
收藏
页码：144 / 158
页数：15
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