Artículo
Impulsive control of a symmetric ball rolling without sliding or spinning
Fecha de publicación:
12/2010
Editorial:
American Institute of Mathematical Sciences
Revista:
Journal of Geometric Mechanics
ISSN:
1941-4889
e-ISSN:
1941-4897
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
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 x 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.
Palabras clave:
NONHOLONOMIC SYSTEMS
,
CONTROL
,
GEOMETRIC MECHANICS
Archivos asociados
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Identificadores
Colecciones
Articulos(CCT - BAHIA BLANCA)
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - BAHIA BLANCA
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - BAHIA BLANCA
Citación
Cendra, Hernan; Etchechoury, María del Rosario; Ferraro, Sebastián José; Impulsive control of a symmetric ball rolling without sliding or spinning; American Institute of Mathematical Sciences; Journal of Geometric Mechanics; 2; 4; 12-2010; 321-342
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