Posture balance and path tracking control of thin disk rolling without slipping

Posture balance and path tracking control of disk rolling without slipping on the horizontal plane was researched. Non-holonomic restriction model of disk rolling without slipping was built, considering most easiness of disk posture control, a posture balance condition was put forward, and based on the posture balance condition, using Lyapunov´s stability design theory, angle velocity control strategy was acquired, and using Backstepping design method, path tracking control strategy on the horizontal plane was designed, finally, by use of simulation, it is proved that posture balance control strategy was valid, and path tracking control strategy is stable, rapid and precise.