On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses
Optimization and Control
2020-03-10 v7 Dynamical Systems
Abstract
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagin's minimum principle yields the ball's controlled equations of motion, a solution of which obeys the ball's uncontrolled equations of motion, satisfies prescribed initial and final conditions, and minimizes a prescribed performance index.
Keywords
Cite
@article{arxiv.1708.03829,
title = {On the Optimal Control of a Rolling Ball Robot Actuated by Internal Point Masses},
author = {Vakhtang Putkaradze and Stuart Rogers},
journal= {arXiv preprint arXiv:1708.03829},
year = {2020}
}
Comments
30 pages, 16 figures