Stabilization and control of the motion of a rolling disk

This work deals with the stabilization and control of the motion of a disk rolling on the horizontal plane. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. By using a kind of an inverse control transformation, a control strategy is proposed under which the motion of the disk is stabilized and is able asymptotically to track any given smooth ground trajectory.