Modelling and control of the motion of a disk rolling on a spherical dome

DOI10.1016/S0895-7177(02)00060-2zbMath1066.93038OpenAlexW1987201689MaRDI QIDQ1876754

Yaakov Yavin

Publication date: 20 August 2004

Published in: Mathematical and Computer Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0895-7177(02)00060-2

zbMATH Keywords

trackingasymptotic stabilitynonholonomic constraintsrolling diskspherical dome

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Nonholonomic systems related to the dynamics of a system of particles (70F25)

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Cites Work

• On a horizontal version of the inverse pendulum problem
• Stabilization and control of the motion of a rolling disk
• Modelling of the motion of a disk rolling on a smooth rigid surface
• Stabilization and path controllability of the motion of a rolling disk by using two overhead rotors
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