Tracking control of a rolling disk.
The tracking control of a disk rolling without slipping on the horizontal (X, Y)-plane is considered. The motion of the disk can be controlled via a tilting torque and a pedaling torque. The concept of path controllability of the disk is introduced and then used to calculate control laws such that the disk tracks a given path in the (X, Y)-plane.
Frangos
C
C
Dept. of Stat., Rand Afrikaans Univ., Johannesburg.
Yavin
Y
Y