Modelling and control of the motion of a disk rolling on a sloping plane
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. (C) 2002 Elsevier Science Ltd. All rights reserved.
sloping plane rolling disk nonholonomic constraints asymptotic stability asymptotic tracking