Modelling and control of the motion of a disk rolling on a sloping plane |
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| Affiliation: | Department of Electrical and Electronic Engineering University of Pretoria, Pretoria, South Africa;Department of Mathematics and Statistics, The Rand Afrikaans University P.O. Box 524, Auckland Park 2006, Johannesburg, South Africa |
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| Abstract: | ![]()
This work deals with the stabilization and control of the motion of a disk rolling on a sloping plane. It is assumed here 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 smooth trajectory which is located on the sloping plane. |
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