An intrinsic approach to the control of rolling bodies

22 January 2003

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 1 (01912216) , 431-435
https://doi.org/10.1109/cdc.1999.832815

Abstract

We apply the principal tools of geometric control theory to an intrinsic geometric model of a pair of rolling rigid bodies. The controllability problem is solved completely: in particular, the system is globally controllable if the bodies are not isometric. We also construct a canonical nilpotent approximation of the system, describe its symmetries and express extremals of the corresponding optimal control problem via elliptic functions.

Keywords

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