Abstract
This work deals with the control and guidance of a system which is composed of a disk rolling on a plane, a controlled slender rod that is pivoted through its center of mass about the disk's center, and a rotor with its axis fixed in the upper end of the rod (see Figs. 1 and 2). The rod is controlled in such a manner that it is always aligned along the line passing through the points O and C, where O denotes the center of the disk and C denotes the point of contact between the plane and the disk. The rotor rotates in a plane that is always perpendicular to the plane of the disk. Using the concept of path controllability, control laws are derived for the disk's pedalling moment and the rotor's torque, to steer the disk's motion from a point P 1 to a point P 2, both of them in the plane, during a given time interval [0, t f ].
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