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Tracking control of a rolling disk

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2 Author(s)
Frangos, C. ; Dept. of Stat., Rand Afrikaans Univ., Johannesburg, South Africa ; Yavin, Y.

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

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:30 ,  Issue: 2 )

Date of Publication:

Apr 2000

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