Geodesic
Dynamics, simulation and control of a wheeled robotic glider
Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 679-687.

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We consider the optimal control of a wheeled glider. Equations of motion for the glider have been written out in a compact form, the problem of bringing the glider into a given point within a minimal time has been solved for several typical initial positions of the glider. The realization of the control system of the glider model is discussed.
Keywords: wheeled yacht, robotic glider, dynamics of a robotic glider, optimal control, equations of motion in a compact form. 
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Lidia V. Glazkova; Vladimir E. Pavlovsky; Alexey V. Panchenko. Dynamics, simulation and control of a wheeled robotic glider. Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 679-687. http://geodesic.mathdoc.fr/item/ND_2012_8_4_a0/

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