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Iterative Feedback Control of Plate-Ball Orientation and Position

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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.

Free download from Shareware Connection - Feedback control of a plate-ball system (controls a sphere by rolling without slipping in the plane)

Publisher: Aaron Becker | License: Shareware
Version: 1.0 | Size: 10 KB | Platform: Matlab, Scripts
Released Date: 09-03-2013 | Rating: 0 | Title: Iterative Feedback Control of Plate-Ball Orientation and Position

Author Url: http://www.mathworks.com
Program Info Url: http://www.mathworks.com
Download Url: http://www.mathworks.com/matlabcentral/fx_files/36252/1/steerSphereOrioloAlg.zip

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