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.
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页码：559 / 570
页数：12
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