The problem of optimal control of a Chaplygin ball by internal rotors
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Publication:1941926
DOI10.1134/S156035471206007XzbMath1264.37015MaRDI QIDQ1941926
Publication date: 22 March 2013
Published in: Regular and Chaotic Dynamics (Search for Journal in Brave)
Geometric methods (93B27) Completely integrable finite-dimensional Hamiltonian systems, integration methods, integrability tests (37J35) Dynamical systems in control (37N35) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic dynamical systems (37J60)
Related Items (11)
Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body ⋮ On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors ⋮ Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics ⋮ Four-dimensional generalization of the Grioli precession ⋮ The dynamics of systems with servoconstraints. II ⋮ Optimal control of the motion of a helical body in a liquid using rotors ⋮ Motion Control of a Spherical Robot with a Pendulum Actuator for Pursuing a Target ⋮ Quaternion model of programmed control over motion of a Chaplygin ball ⋮ Dynamics of the Chaplygin Ball with Variable Parameters ⋮ Dynamics of rubber Chaplygin sphere under periodic control ⋮ Different models of rolling for a robot ball on a plane as a generalization of the Chaplygin ball problem
Cites Work
- How to control Chaplygin's sphere using rotors
- Integrability of the problem of rolling of a sphere with a multiply connected cavity filled with an ideal fluid
- Rolling of a homogeneous ball over a dynamically asymmetric sphere
- Variational principles for constrained systems: Theory and experiment
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