Path Following of a Rolling Disk Using Throttle Only

In this paper we address the problem of controlling a disk, rolling on a horizontal plane, using only throttle as control input The disk is supposed to follow an assigned path in the plane. The problem is difficult because of the high order of underactuation and of the instability of the system. The controller is based upon an internal manifold and a receding horizon technique. By using a backstepping control technique the controller tracks a lean angle trajectory. The lean angle reference trajectory is generated at each instant through a receding horizon algorithm and it is such that, if followed, the system tracks the assigned path with a bounded error