Open loop strategies for the control of a disk rolling on a horizontal plane Original Research Article

The concept of feasible command strategies is introduced and their applicability is demonstrated by solving a guidance and control problem. This problem concerns the control of the motion of a rolling disk that has to be steered from a point A to a small neighbourhood of a point B, both of them in the (X, Y) plane. In addition, the motion of the rolling disk is subjected to state and control constraints.