Modelling and control of the motion of a disk rolling on a spherical dome
This work deals with the modelling and control of the motion of a disk rolling without slipping on a rigid spherical dome. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. First, a mathematical model of the motion of the disk rolling on the dome is derived. Then, 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 spherical dome. (C) 2002 Elsevier Science Ltd. All rights reserved.
spherical dome rolling disk nonholonomic constraints asymptotic stability asymptotic tracking