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Modelling and control of the motion of a disk rolling on a spherical dome

โœ Scribed by Y. Yavin

Publisher
Elsevier Science
Year
2002
Tongue
English
Weight
447 KB
Volume
35
Category
Article
ISSN
0895-7177

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โœฆ Synopsis

This work deals with the modelling and control of the motion of a disk rolling without slipping on a rigid spherical d(~ne. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. First, a mathematical model of the motion of the disk rolling on the dome is derived. Then, 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 smooth trajectory which is located on the spherical dome. (~) 2002 Elsevier Science Ltd. All rights reserved.

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