Stabilization and control of the motion of a rolling disk
type: Item
instance of: scholarly article
title: Stabilization and control of the motion of a rolling disk
zbMATH Open document ID: 1015.93052
DOI: 10.1016/S0895-7177(99)00017-5
published in: Mathematical and Computer Modelling
publication date: 2002-05-05T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70K20
Mathematics Subject Classification ID: 70F25
zbMATH DE Number: 1737636
zbMATH Keywords: nonholonomic constraints
zbMATH Keywords: asymptotic tracking
zbMATH Keywords: stabilization
zbMATH Keywords: motion of a rolling disk
zbMATH Keywords: inverse control transformation
author: Y. Yavin
reviewed by: Bozhidar Cheshankov
MaRDI profile type: Publication
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full work available at URL: s0895-7177(99)00017-5
OpenAlex ID: W1992609918
description: scientific article; zbMATH DE number 1737636