Feasible command strategies for the control of a rolling disk with a rod fixed along its axis

The concept of feasible command strategies is introduced and their applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a slender rod that is fixed through the diskʹs center along the diskʹs axis. The motion of the disk-rod system is subjected to state and control constraints, and it can serve as an extension to a simplified model of the motion of a riderless unicycle.