Control of a Coin on a Rotating Table based on Its Equilibria Set

In this paper, we propose new control algorithms for a coin on a rotating table, which we cannot easily control. We first derive the nonholonomic kinematic system with affine constraints (NKSAC) for a coin on a rotating table and show nonlinear control properties of the system. Then, control algorithms which transfer the NKSAC to any equilibrium/nonequilibrium are introduced. Finally, we show simulation results to confirm the effectiveness of our control algorithms