Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev "How to control the Chaplygin ball using rotors. II"

被引：12

作者：

Ivanova, Tatiana B. ^{[1
]}

Pivovarova, Elena N. ^{[1
]}

机构：

[1] Udmurt State Univ, Izhevsk 426034, Russia

来源：

REGULAR & CHAOTIC DYNAMICS | 2014年 / 19卷 / 01期

关键词：

control; dry friction; Chaplygin's ball; spherical robot; SPHERICAL MOBILE ROBOT; DESIGN;

D O I：

10.1134/S1560354714010092

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.

引用

页码：140 / 143

页数：4

共 10 条

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Alves, J ;

Dias, J .

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[2] How to control the Chaplygin ball using rotors. II [J].

Borisov, Alexey V. ;

Kilin, Alexander A. ;

Mamaev, Ivan S. .

REGULAR & CHAOTIC DYNAMICS, 2013, 18 (1-2) :144-158

[3] How to control Chaplygin's sphere using rotors [J].

Borisov, Alexey V. ;

Kilin, Alexander A. ;

Mamaev, Ivan S. .

REGULAR & CHAOTIC DYNAMICS, 2012, 17 (3-4) :258-272

[4]

Camicia C, 2000, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, P805, DOI 10.1109/IROS.2000.894703

[5] Design and analysis of a spherical mobile robot [J].