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Realization of the brachistochronic motion of Chaplygin sleigh in a vertical plane with an unilateral nonholonomic constraintстатья
Информация о цитировании статьи получена из
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Статья опубликована в журнале из списка Web of Science и/или Scopus
Дата последнего поиска статьи во внешних источниках: 10 апреля 2024 г.
- Авторы: Obradovic Aleksandar, Cherkasov Oleg, Milicic Luka, Salinic Slavisa
- Журнал: Theoretical and Applied Mechanics
- Том: 50
- Номер: 2
- Год издания: 2023
- Первая страница: 171
- Последняя страница: 183
- DOI: 10.2298/tam231017011o
- Аннотация: Abstract. The paper considers the procedure for determining the brachis-tochronic motion of the Chaplygin sleigh in a vertical plane, where the bladeis such that it prevents the motion of the contact point in one direction only.The position of the sleigh mass center and orientation at the final positions isspecified, as well as the initial value of mechanical energy. The simplest formu-lation of a corresponding optimal control problem is given and it is solved byapplying Pontryagin’s maximum principle. For some cases, analytical solutionsof differential equations of the two-point boundary value problem (TPBVP)of the maximum principle were found. Numerical integration was carried outfor other cases using the shooting method, where the assessment of missingterminal conditions was given and it was shown that the solution obtainedrepresents the global minimum time for the brachistochronic motion. Themethod of the brachistochronic motion by means of a single holonomic and asingle unilateral nonholonomic mechanical constraint is presented (20) (PDF) Realization of the brachistochronic motion of Chaplygin sleigh in a vertical plane with an unilateral nonholonomic constraint. Available from: https://www.researchgate.net/publication/376578298_Realization_of_the_brachistochronic_motion_of_Chaplygin_sleigh_in_a_vertical_plane_with_an_unilateral_nonholonomic_constraint#fullTextFileContent [accessed Apr 08 2024].
- Добавил в систему: Черкасов Олег Юрьевич