Stabilization of the motion of a disk rolling on a horizontal plane by using a translational moving rod along its axis

摘要

This work deals with the stabilization and control of a system which is composed of a disk rolling on a plane, a translational joint attached along the disk's axis, and a controlled rod that moves along the translational joint (see Figures I and 2). The disk's motion is controlled by the moving rod, a "directional control" moment, and a pedalling moment, It is shown here that by applying a kind of inverse dynamics control, the motion of the disk is stabilized, while simultaneously controlling its speed and direction in such a manner that the point of contact between the disk and the horizontal plane will be able asymptotically to track any given smooth ground trajectory. (c) 2005 Elsevier Ltd. All rights reserved.