Comments on the paper by A. V. Borisov, A. A. Kilin, I. S. Mamaev “How to control the Chaplygin ball using rotors. II”
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.
Keywordscontrol dry friction Chaplygin’s ball spherical robot
MSC2010 numbers70F40 70E18
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