Constraint control of nonholonomic mechanical systems
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Controllability (93B05) Optimality conditions for problems involving ordinary differential equations (49K15) Numerical solution of boundary value problems involving ordinary differential equations (65L10) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Nonholonomic dynamical systems (37J60) Numerical problems in dynamical systems (65P99) Motion of a rigid body with a fixed point (70E17) Software, source code, etc. for problems pertaining to numerical analysis (65-04) Kinematics of a rigid body (70B10)
Abstract: We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection of the body frame angular velocity on a given direction . We derive the optimal control formulation, first for an arbitrary group, and then in the classical realization of Suslov's problem for the rotation group . We show that it is possible to control the system using the constraint and demonstrate numerical examples in which the system tracks quite complex trajectories such as a spiral.
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