BibTeX
@ARTICLE{
Putkaradze2018CCo,
author = "Putkaradze, Vakhtang and Rogers, Stuart",
title = "Constraint Control of Nonholonomic Mechanical Systems",
journal = "Journal of Nonlinear Science",
pages = "193234",
abstract = "We derive an optimal control formulation for a nonholonomic mechanical system using
the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is
defined as the motion of a rigid body with a vanishing projection of the body frame angular velocity
on a given direction {\$}{\$}{\backslash}varvec{\{}{\backslash}xi
{\}}{\$}{\$} $\xi$ . We derive the optimal control formulation, first for an
arbitrary group, and then in the classical realization of Suslov's problem for the rotation
group {\$}{\$}{\backslash}textit{\{}SO{\}}(3){\$}{\$} SO ( 3 ) .
We show that it is possible to control the system using the constraint
{\$}{\$}{\backslash}varvec{\{}{\backslash}xi {\}}(t){\$}{\$}
$\xi$ ( t ) and demonstrate numerical examples in which the system tracks quite complex
trajectories such as a spiral.",
issn = "14321467",
doi = "10.1007/s0033201794061",
url = "https://doi.org/10.1007/s0033201794061",
year = "2018",
volume = "28",
number = "1",
ad_area = "Mechanical Engineering",
ad_tools = "ADiGator"
}
