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Time-optimal control of rolling bodies

Abstract:

The brachistochrone problem is usually solved in classical mechanics courses using the calculus of variations, although it is quintessentially an optimal control problem. In this paper, we address the classical brachistochrone problem and two vehicle-relevant generalisations from an optimal control perspective. We use optimal control arguments to derive closed-form solutions for both the optimal trajectory and the minimum achievable transit time for these generalisations. We then study optima...

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Publication status:
Published

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
INTERNATIONAL JOURNAL OF CONTROL
Volume:
86
Issue:
11
Pages:
2006-2021
Publication date:
2013-11-01
DOI:
EISSN:
1366-5820
ISSN:
0020-7179
URN:
uuid:adfdc296-2f99-465e-8a39-3fde10f51374
Source identifiers:
426144
Local pid:
pubs:426144

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