Sergey Bolotin

Address: 119899, Moscow, Vorobyevy gory

E-mail: bolotin@mi-ras.ru

University: Lomonosov Moscow State University

Publications:

Bolotin S. V., Popova T. V.

On the motion of a mechanical system inside a rolling ball
2013, Vol. 9, No. 1, pp. 51-58

Abstract

We consider a mechanical system inside a rolling ball and show that if the ideal constraints have spherical symmetry, the equations of motion have a Lagrangian form. Without symmetry, this is not true.

Keywords: nonholonomic constraint, rolling ball, Lagrange equations, Hamilton principle

Citation: Bolotin S. V., Popova T. V., On the motion of a mechanical system inside a rolling ball, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 1, pp. 51-58

DOI:10.20537/nd1301005

Bolotin S. V.

The problem of optimal control of a Chaplygin ball by internal rotors
2012, Vol. 8, No. 4, pp. 837-852

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

Citation: Bolotin S. V., The problem of optimal control of a Chaplygin ball by internal rotors, Rus. J. Nonlin. Dyn., 2012, Vol. 8, No. 4, pp. 837-852

DOI:10.20537/nd1204011

Borisov A. V., Bolotin S. V., Kilin A. A., Mamaev I. S., Treschev D. V.

Valery Vasilievich Kozlov. On his 60th birthday
2010, Vol. 6, No. 3, pp. 461-488

Abstract

Citation: Borisov A. V., Bolotin S. V., Kilin A. A., Mamaev I. S., Treschev D. V., Valery Vasilievich Kozlov. On his 60th birthday, Rus. J. Nonlin. Dyn., 2010, Vol. 6, No. 3, pp. 461-488

DOI:10.20537/nd1003001

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