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How to control the Chaplygin ball using rotors. II |
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| Authors: | Alexey V. Borisov Alexander A. Kilin Ivan S. Mamaev |
| Affiliation: | 16220. Institute of Computer Science; Laboratory of Nonlinear Analysis and the Design of New Types of Vehicles, Udmurt State University, Universitetskaya 1, Izhevsk, 426034, Russia 26220. A.A. Blagonravov Mechanical Engineering Research Institute of RAS, Bardina str. 4, Moscow, 117334, Russia 36220. Institute of Mathematics and Mechanics of the Ural Branch of RAS, S. Kovalevskaja str. 16, Ekaterinburg, 620990, Russia |
| Abstract: | 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. |
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