Abstract:
In our earlier paper [3] 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.
This research was supported by the Presidential grant of leading scientific schools NSh-2519.2012.1. and Target Programmes for 2012–2014 (State contract 1.1248.2011, 1.7734.2013, 1.7734.2013).
Citation:
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “How to Control the Chaplygin Ball Using Rotors. II”, Regul. Chaotic Dyn., 18:1-2 (2013), 144–158
\Bibitem{BorKilMam13}
\by Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev
\paper How to Control the Chaplygin Ball Using Rotors. II
\jour Regul. Chaotic Dyn.
\yr 2013
\vol 18
\issue 1-2
\pages 144--158
\mathnet{http://mi.mathnet.ru/rcd101}
\crossref{https://doi.org/10.1134/S1560354713010103}
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This publication is cited in the following 76 articles:
Aminata Diouf, Bruno Belzile, Maarouf Saad, David St-Onge, “Spherical rolling robots—Design, modeling, and control: A systematic literature review”, Robotics and Autonomous Systems, 175 (2024), 104657
D. Spitaleri, G. Pepe, M. Laurenza, S. Milana, A. Carcaterra, 2024 13th International Workshop on Robot Motion and Control (RoMoCo), 2024, 243
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Bernard Brogliato, “Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives”, Annual Reviews in Control, 55 (2023), 297
Seyed Amir Tafrishi, Mikhail Svinin, Motoji Yamamoto, Yasuhisa Hirata, “A geometric motion planning for a spin-rolling sphere on a plane”, Applied Mathematical Modelling, 121 (2023), 542
A.P. Ivanov, “Attenuation control of gyrostat without energy supply”, International Journal of Non-Linear Mechanics, 154 (2023), 104441
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An Up-to-Date Overview of Designs and Features”, Rus. J. Nonlin. Dyn., 18:4 (2022), 709–750
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Robot with a Balanced Internal Platform Taking into
Account Different Models of Contact Friction”, Rus. J. Nonlin. Dyn., 18:5 (2022), 803–815
Alexander A. Kilin, Elena N. Pivovarova, “Motion control of the spherical robot rolling on a vibrating plane”, Applied Mathematical Modelling, 109 (2022), 492
A. V. Borisov, E. A. Mikishanina, “Dynamics of the Chaplygin Ball with Variable Parameters”, Rus. J. Nonlin. Dyn., 16:3 (2020), 453–462
Fasso F., Passarella S., Zoppello M., “Control of Locomotion Systems and Dynamics in Relative Periodic Orbits”, J. Geom. Mech., 12:3 (2020), 395–420
Borisov A.V., Ivanov A.P., “Adaptation of the Jellett Integral to the Case of Rolling Friction”, Dokl. Phys., 65:7 (2020), 252–254
Vakhtang Putkaradze, Stuart M. Rogers, “On the Normal Force and Static Friction Acting on a Rolling Ball Actuated by Internal Point Masses”, Regul. Chaotic Dyn., 24:2 (2019), 145–170
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Borisov A., Kilin A., Karavaev Yu., Klekovkin A., “Stabilization of the Motion of a Spherical Robot Using Feedbacks”, Appl. Math. Model., 69 (2019), 583–592
Borisov A. Kilin A. Mamaev I., “Invariant Submanifolds of Genus 5 and a Cantor Staircase in the Nonholonomic Model of a Snakeboard”, Int. J. Bifurcation Chaos, 29:3 (2019), 1930008
Ivanova T.B. Kilin A.A. Pivovarova E.N., “Controlled Motion of a Spherical Robot With Feedback. II”, J. Dyn. Control Syst., 25:1 (2019), 1–16
T. B. Ivanova, A. A. Kilin, E. N. Pivovarova, “Controlled motion of a spherical robot with feedback. I”, J. Dyn. Control Syst., 24:3 (2018), 497–510
A. R. Chowdhury, G. S. Soh, Sh. Foong, K. L. Wood, “Implementation of caterpillar inspired rolling gait and nonlinear control strategy in a spherical robot”, J. Bionic Eng., 15:2, SI (2018), 313–328
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