Asymptotics of Extremal Curves in the Ball Rolling Problem on the Plane |
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Authors: | A P Mashtakov |
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Institution: | 1. The Program Systems Institute of RAS, Pereslavl-Zalessky, Russia
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Abstract: | In the present paper, we study an optimal sphere rolling problem on the plane (without slew and slip) with predefined boundary-value conditions. To solve it, we use methods from the optimal control theory. The controlled system for sphere orientation is represented via the rotation quaternion. Asymptotics of extremal paths on a sphere rolling along small-amplitude sine waves is found. |
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