Stabilization and control of the motion of a rolling disk (Q1596885)

The paper is an extension of a series of papers (by the same author and co-authors) devoted to the motion of a rolling disk on the horizontal plane. Here the stabilization and control of the motion of the disk are investigated. It is assumed that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. By using a kind of an inverse control transformation, a control strategy is proposed under which the motion of the disk is stabilized and is able asymptotically to track any given smooth ground trajectory. A numerical example is provided.