Quotient method for stabilising a ball-on-a-wheel system – Experimental results
This paper extends the quotient method proposed in  and applies it to stabilize a “ball-on-a-wheel” system. The quotient method requires a diffeomorphism to obtain the normal form of the input vector field and uses canonical pro- jection to obtain the quotient. However, the whole process can be done without computing the normal form, which requires defining a quotient generating function and a quotient bracket. This paper presents the steps necessary to apply the quotient method without obtaining the normal form. Furthermore, a Lyapunov function is introduced to prove stability. This paper also presents the experimental implementation of the quotient method to stabilize a ball-on-a-wheel system.