Impulsive control of a symmetric ball rolling without sliding or spinning

Autor:	María del Rosario Etchechoury, Sebastián J. Ferraro, Hernán Cendra
Rok vydání:	2010
Předmět:	Physics Control and Optimization Geometric mechanics Mechanics of Materials Control theory Applied Mathematics Mathematical analysis Ode Equations of motion Geometry and Topology Ball (mathematics) Moment of inertia Spinning
Zdroj:	Journal of Geometric Mechanics. 2:321-342
ISSN:	1941-4897
DOI:	10.3934/jgm.2010.2.321
Popis:	A ball having two of its three moments of inertia equal and whose center of mass coincides with its geometric center is called a symmetric ball . The free dynamics of a symmetric ball rolling without sliding or spinning on a horizontal plate has been studied in detail in a previous work by two of the authors, where it was shown that the equations of motion are equivalent to an ODE on the 3-manifold $S^2 \times S^1$. In this paper we present an approach to the impulsive control of the position and orientation of the ball and study the speed of convergence of the algorithm. As an example we apply this approach to the solutions of the isoparallel problem.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::5e0dc9b891ae6337fcf1364ac8460ca2 https://doi.org/10.3934/jgm.2010.2.321 Zobrazit plný text záznamu