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Regular and Chaotic Dynamics, 2012, Volume 17, Issue 6, Pages 559–570
DOI: https://doi.org/10.1134/S156035471206007X (Mi rcd268) 		 
This article is cited in 16 scientific papers (total in 16 papers)

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

Sergey Bolotinab

a University of Wisconsin–Madison, 480 Linkoln Dr., Madison, WI 53706-1325, USA
b V. A. Steklov Mathematical Institute of Russian Academy of Sciences, Gubkina 8, Moscow, 119991 Russia
Citations (16)
DOI: https://doi.org/10.1134/S156035471206007X
Abstract: 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.
Funding agency Grant number
Ministry of Education and Science of the Russian Federation 11.G34.31.0039
Russian Academy of Sciences - Federal Agency for Scientific Organizations
This research was done at the Udmurt State University and was supported by the Grant Program of the Government of the Russian Federation for state support of scientific research conducted under the supervision of leading scientists at Russian institutions of higher professional education (Contract No11.G34.31.0039). Also supported by the Programme “Mathematical Control Theory” of RAS.
Received: 04.09.2012
Accepted: 09.11.2012
Bibliographic databases:
Document Type: Article
MSC: 37J60, 37J35, 70E18, 70F25, 70H45
Language: English
Citation: Sergey Bolotin, “The Problem of Optimal Control of a Chaplygin Ball by Internal Rotors”, Regul. Chaotic Dyn., 17:6 (2012), 559–570
Citation in format AMSBIB
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\by Sergey Bolotin
\paper The Problem of Optimal Control of a Chaplygin Ball by Internal Rotors
\jour Regul. Chaotic Dyn.
\yr 2012
\vol 17
\issue 6
\pages 559--570
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    • This publication is cited in the following 16 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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