z-logo
open-access-imgOpen Access
Realizing brachistochronic planar motion of a variable mass nonholonomic mechanical system by an ideal holonomic constraint with restricted reaction
Author(s) -
Bojan Jeremić,
Radoslav Radulović,
Nemanja Zorić,
Milan Dražić
Publication year - 2019
Publication title -
filomat
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 34
eISSN - 2406-0933
pISSN - 0354-5180
DOI - 10.2298/fil1914387j
Subject(s) - nonholonomic system , holonomic constraints , mathematics , holonomic , constraint (computer aided design) , equations of motion , maximum principle , noether's theorem , classical mechanics , motion (physics) , mathematical analysis , control theory (sociology) , scalar (mathematics) , invertible matrix , planar , optimal control , mathematical optimization , physics , geometry , control (management) , pure mathematics , computer science , mobile robot , computer graphics (images) , artificial intelligence , robot , quantum mechanics , lagrangian
The paper considers realization of the brachistochronic motion of a nonholonomic mechanical system, composed of variable mass particles, by means of an ideal holonomic constraint with restricted reaction. It is assumed that the system performs planar motion in an arbitrary field of forces and that it has two degrees of freedom. In addition, the laws of the time-rate of mass variation of the particles, as well as relative velocities of the expelled and gained particles, respectively, are known. Restricted reaction of the holonomic constraint is taken for the scalar control. Applying Pontryagin?s maximum principle and singular optimal control theory, the problem of brachistochronic motion is solved as a two-point boundary value problem (TPBVP). Since the reaction of the constraint is restricted, different types of control structures are examined, from singular to totally nonsingular. The considerations are illustrated via an example.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.
Having issues? You can contact us here