Stabilization and control of the motion of a rolling disk

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Abstract

This work deals with the stabilization and control of the motion of a disk rolling on the horizontal 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 given smooth ground trajectory.

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APA

Yavin, Y. (1999). Stabilization and control of the motion of a rolling disk. Mathematical and Computer Modelling, 29(2), 45–54. https://doi.org/10.1016/S0895-7177(99)00017-5

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