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.
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