Abstract
The concept of feasible command strategies is introduced and their applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a slender rod that is fixed through the disk's center along the disk's axis. The motion of the disk-rod system is subjected to state and control constraints, and it can serve as an extension to a simplified model of the motion of a riderless unicycle.
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