Comments on the Paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev "How to Control the Chaplygin Ball Using Rotors. II"

In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.