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

Sergey V. Bolotin

Russian journal of nonlinear dynamics, Tome 8 (2012) no. 4, pp. 837-852.

Résumé

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.

Détail

Keywords: nonholonomic constraint, vaconomic mechanics, optimal control, maximum principle, Hamiltonian.

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