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Zimmerman, Jason A.

Optimal control of the sphere \(S^n\) rolling on \(E^n\). (English) Zbl 1064.49021

Math. Control Signals Syst. 17, No. 1, 14-37 (2005).
Summary: This paper investigates the optimal control problem concerning the sphere \(S^{n}\) rolling without slipping on the \(n\)-dimensional Euclidean space \(E^n\), \(n \geq 2\). The differential equations governing the behaviour of the sphere constitute a sub-Riemannian distribution on the Lie group \(G = \mathbb R^n\times SO_{n+1}\). Minimizing over the lengths of paths traced by the point of contact of the sphere yields an optimal control problem which is exploited using Noether’s theorem to derive a family of integrals of motion for the system. This family is then employed to prove that all optimizing trajectories are projections of normal extremals. The Lax form of the extremal equations gives rise to an additional family of integrals which is reminiscent of the Manakov integrals of motion for the free rigid body problem. Both families are required to show complete integrability if \(n =4\).

Cited in 11 Documents

MSC:

49K15 Optimality conditions for problems involving ordinary differential equations
70F25 Nonholonomic systems related to the dynamics of a system of particles
70E18 Motion of a rigid body in contact with a solid surface
70Q05 Control of mechanical systems
37J60 Nonholonomic dynamical systems
93C85 Automated systems (robots, etc.) in control theory

Keywords:

abnormal extremals; ball; completely integrable Hamiltonian systems; nonholonomic system; optimal control; rolling sphere; sub-Riemannian; Noether theorem; symmetric integrals
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\textit{J. A. Zimmerman}, Math. Control Signals Syst. 17, No. 1, 14--37 (2005; Zbl 1064.49021)
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References:

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