The motion of a cylinder-rod system on a horizontal plane: Path controllability and closed-loop control

This work deals with the guidance and control of a system which is composed of a rolling cylinder and a controlled slender rod that is pivoted, through its center of mass, about the cylinderʹs center. Given a finite time interval [0, tf], and let P1 and P2 be two points in the (X, Y)-plane. The problem dealt with here is to find a closed-loop control law for the cylinder-rod system such that: 1. e cylinder center will move from P1 to P2 during [0, tf] and will come to rest at P2, and he rod will rotate from an angle ψ21 to ψ22 during [0, tf] and will stop to rotate at t = tf. roducing the concept of path controllability, a closed-loop control law for the solution of the above-posed problem is proposed and its efficiency is demonstrated by solving numerically some examples.