The Problem of Optimal Control of a Chaplygin Ball by Internal Rotors

    2012, Volume 17, Number 6, pp.  559-570

    Author(s): Bolotin S. V.

    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.
    Keywords: nonholonomic constraint, vaconomic mechanics, optimal control, maximum principle, Hamiltonian
    Citation: Bolotin S. V., The Problem of Optimal Control of a Chaplygin Ball by Internal Rotors, Regular and Chaotic Dynamics, 2012, Volume 17, Number 6, pp. 559-570
    DOI: 10.1134/S156035471206007X



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