Feasible strategies for the control of a disk rolling on a moving horizontal plane |
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Authors: | Y Yavin C Frangos |
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Institution: | Laboratory for Decision and Control, Department of Electrical and Electronic Engineering University of Pretoria, Pretoria 0002, South Africa |
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Abstract: | Let (X,Y,Z) be an inertial coordinate system and suppose that a horizontal plane is moving in a uniform velocity parallel to the (X,Y)-plane. A disk is rolling on the moving plane. Given two points A and B fixed in the (X,Y)-plane. Open-loop strategies are computed, for rolling the disk, on the moving plane, from A to B, during a given time interval 0, f] and subject to state and control constraints. |
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Keywords: | Rolling disk Moving plane Nonholonomic constraints Feasible command strategies Nonlinear programming |
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