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Nelineinaya Dinamika [Russian Journal of Nonlinear Dynamics], 2013, Volume 9, Number 1, Pages 59–76
(Mi nd370)
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This article is cited in 15 scientific papers (total in 16 papers)
How to control the Chaplygin ball using rotors. II
Alexey V. Borisovabc, Alexander A. Kilinabc, Ivan S. Mamaevabc
a Institute of Computer Science;
Laboratory of nonlinear analysis and the design of new types of vehicles, Udmurt State University, Izhevsk, Russia
b A. A. Blagonravov Mechanical Engineering Research Institute of RAS, Moscow, Russia
c Institute of Mathematics and Mechanics of the Ural Branch of RAS, Ekaterinburg, Russia
Abstract:
In our earlier paper [2] we examined the problem of control of a balanced dynamically nonsymmetric sphere with rotors with no-slip condition at the point of contact. In this paper we investigate the controllability of a ball in the presence of friction. We also study the problem of the existence and stability of singular dissipation-free periodic solutions for a free ball in the presence of friction forces. The issues of constructive realization of the proposed algorithms are discussed.
Keywords:
non-holonomic constraint, control, dry friction, viscous friction, stability, periodic solutions.
Received: 31.01.2013
Revised: 28.02.2013
Citation:
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “How to control the Chaplygin ball using rotors. II”, Nelin. Dinam., 9:1 (2013), 59–76
Linking options:
https://www.mathnet.ru/eng/nd370 https://www.mathnet.ru/eng/nd/v9/i1/p59
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| Abstract page: | 451 | | Full-text PDF : | 109 | | References: | 83 | | First page: | 1 |
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