Software Listing of Author : "Aaron Becker"

Feedback control of a plate-ball system (controls a sphere by rolling without slipping in the plane) It steers a sphere with a possibly unknown radius that rolls without slipping on the plane to a desired position and orientation by using iterative feedback control. inputs: State = [u,v,phi,x,y], (u,v) = (lat, log) contact point, phi = angle between the x-xis and the plane of the meridian through the contact point. u is limited to +/-pi/2 and v is limited to +/-pi The actual sphere radius is rhoA, while the assumed radius is rho.

  • Platform: Matlab, Scripts
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