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    The problem of optimal control of a Chaplygin ball by internal rotors

    2012, Vol. 8, No. 4, pp.  837-852

    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, Rus. J. Nonlin. Dyn., 2012, Vol. 8, No. 4, pp.  837-852
    DOI:10.20537/nd1204011


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