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Nelin. Dinam., 2014, Volume 10, Number 1, Pages 127–132 (Mi nd429)  

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

Tatyana B. Ivanova, Elena N. Pivovarova

Udmurt State University, Universitetskaya 1, Izhevsk, 426034 Russia

Abstract: 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.

Keywords: control, dry friction, Chaplygin’s ball, spherical robot.

Full text: PDF file (234 kB)
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Document Type: Article
UDC: 531.31, 531.44
MSC: 70E18, 70F40
Received: 18.10.2013
Revised: 11.11.2013

Citation: Tatyana B. Ivanova, Elena N. Pivovarova, “Comment on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev “How to control the Chaplygin ball using rotors. II””, Nelin. Dinam., 10:1 (2014), 127–132

Citation in format AMSBIB
\Bibitem{IvaPiv14}
\by Tatyana~B.~Ivanova, Elena~N.~Pivovarova
\paper Comment on the paper by A.\,V.~Borisov, A.\,A.~Kilin, I.\,S.~Mamaev “How to control the Chaplygin ball using rotors.~II”
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 1
\pages 127--132
\mathnet{http://mi.mathnet.ru/nd429}


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