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.
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...
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