On the motion of a disc rolling on a horizontal plane: Path controllability and feedback control Original Research Article

This work deals with the feedback control and guidance of the motion of a disc rolling, without slipping, on the horizontal (X, Y)-plane. The concept of path controllability is introduced, and is used to establish a condition under which the discʹs motion is path controllable. The derivation of this condition is used to design a robust closed-loop control law for the discʹs motion, such that the disc will roll, during a finite time-interval, [0, tf], from a point A to a small neighbourhood of B, where A and B are two given points in the (X, Y)-plane.