The problem of optimal control of a Chaplygin ball by internal rotors

被引：12

作者：

Bolotin, Sergey ^{[1
,2
]}

机构：

[1] Univ Wisconsin, Madison, WI 53706 USA

[2] Russian Acad Sci, VA Steklov Math Inst, Moscow 119991, Russia

来源：

REGULAR & CHAOTIC DYNAMICS | 2012年 / 17卷 / 06期

关键词：

nonholonomic constraint; vaconomic mechanics; optimal control; maximum principle; Hamiltonian; NONINTEGRABLE CONSTRAINTS; SYSTEMS; SPHERE;

D O I：

10.1134/S156035471206007X

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

We study the problem of optimal control of a Chaplygin ball on a plane by means of 3 internal rotors. Using Pontryagin maximum principle, the equations of extremals are reduced to Hamiltonian equations in group variables. For a spherically symmetric ball, the solutions can be expressed in by elliptic functions.

引用

页码：559 / 570

页数：12

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