TY  - CONF
AU  - Trišović, Nataša
AU  - Li, Wei
AU  - Lazović-Kapor, Tatjana
AU  - Gavrilović, Marko
AU  - Radulović, Radoslav
AU  - Milić, Milica
AU  - Baneasa Birtok, Corneliu
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7182
AB  - The modern approach to optimizing mechanical systems involves employing cutting-edge technologies and methodologies to enhance the performance, efficiency, and sustainability of various mechanical processes and systems.
PB  - Trans Tech Publications
C3  - 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
T1  - The Modern Approach to Optimizing Mechanical Systems
IS  - Scientific Books of Abstracts, Vol. 2, pp 114-114
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7182
ER  - 

@conference{
author = "Trišović, Nataša and Li, Wei and Lazović-Kapor, Tatjana and Gavrilović, Marko and Radulović, Radoslav and Milić, Milica and Baneasa Birtok, Corneliu",
year = "2023",
abstract = "The modern approach to optimizing mechanical systems involves employing cutting-edge technologies and methodologies to enhance the performance, efficiency, and sustainability of various mechanical processes and systems.",
publisher = "Trans Tech Publications",
journal = "9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland",
title = "The Modern Approach to Optimizing Mechanical Systems",
number = "Scientific Books of Abstracts, Vol. 2, pp 114-114",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7182"
}

Trišović, N., Li, W., Lazović-Kapor, T., Gavrilović, M., Radulović, R., Milić, M.,& Baneasa Birtok, C.. (2023). The Modern Approach to Optimizing Mechanical Systems. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
Trans Tech Publications.(Scientific Books of Abstracts, Vol. 2, pp 114-114).
https://hdl.handle.net/21.15107/rcub_machinery_7182

Trišović N, Li W, Lazović-Kapor T, Gavrilović M, Radulović R, Milić M, Baneasa Birtok C. The Modern Approach to Optimizing Mechanical Systems. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland. 2023;(Scientific Books of Abstracts, Vol. 2, pp 114-114).
https://hdl.handle.net/21.15107/rcub_machinery_7182 .

Trišović, Nataša, Li, Wei, Lazović-Kapor, Tatjana, Gavrilović, Marko, Radulović, Radoslav, Milić, Milica, Baneasa Birtok, Corneliu, "The Modern Approach to Optimizing Mechanical Systems" in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland, no. Scientific Books of Abstracts, Vol. 2, pp 114-114 (2023),
https://hdl.handle.net/21.15107/rcub_machinery_7182 .

TY  - CONF
AU  - Milić, Milica
AU  - Radulović, Radoslav
AU  - Trišović, Nataša
AU  - Gavrilović, Marko
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7186
AB  - This paper presents a fracture analysis of a composite beam element through an in-depth case study.
PB  - Trans Tech Publications
C3  - 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
T1  - Fracture Analysis of Composite Beam Element: Case Study
EP  - 68
SP  - 68
VL  - 2
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7186
ER  - 

@conference{
author = "Milić, Milica and Radulović, Radoslav and Trišović, Nataša and Gavrilović, Marko",
year = "2023",
abstract = "This paper presents a fracture analysis of a composite beam element through an in-depth case study.",
publisher = "Trans Tech Publications",
journal = "9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland",
title = "Fracture Analysis of Composite Beam Element: Case Study",
pages = "68-68",
volume = "2",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7186"
}

Milić, M., Radulović, R., Trišović, N.,& Gavrilović, M.. (2023). Fracture Analysis of Composite Beam Element: Case Study. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
Trans Tech Publications., 2, 68-68.
https://hdl.handle.net/21.15107/rcub_machinery_7186

Milić M, Radulović R, Trišović N, Gavrilović M. Fracture Analysis of Composite Beam Element: Case Study. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland. 2023;2:68-68.
https://hdl.handle.net/21.15107/rcub_machinery_7186 .

Milić, Milica, Radulović, Radoslav, Trišović, Nataša, Gavrilović, Marko, "Fracture Analysis of Composite Beam Element: Case Study" in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland, 2 (2023):68-68,
https://hdl.handle.net/21.15107/rcub_machinery_7186 .

TY  - CONF
AU  - Gavrilović, Marko
AU  - Radulović, Radoslav
AU  - Milić, Milica
AU  - Trišović, Nataša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7188
AB  - In this paper the optimal number of cells in numerical grid will be considered. This way of numerical grid modeling could be applied in every numerical simulation.
PB  - Trans Tech Publications
C3  - 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
T1  - Optimal Number of Cells in a Numerical Grid for Fluid Flow around the Body
EP  - 27
SP  - 27
VL  - 2
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7188
ER  - 

@conference{
author = "Gavrilović, Marko and Radulović, Radoslav and Milić, Milica and Trišović, Nataša",
year = "2023",
abstract = "In this paper the optimal number of cells in numerical grid will be considered. This way of numerical grid modeling could be applied in every numerical simulation.",
publisher = "Trans Tech Publications",
journal = "9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland",
title = "Optimal Number of Cells in a Numerical Grid for Fluid Flow around the Body",
pages = "27-27",
volume = "2",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7188"
}

Gavrilović, M., Radulović, R., Milić, M.,& Trišović, N.. (2023). Optimal Number of Cells in a Numerical Grid for Fluid Flow around the Body. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland
Trans Tech Publications., 2, 27-27.
https://hdl.handle.net/21.15107/rcub_machinery_7188

Gavrilović M, Radulović R, Milić M, Trišović N. Optimal Number of Cells in a Numerical Grid for Fluid Flow around the Body. in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland. 2023;2:27-27.
https://hdl.handle.net/21.15107/rcub_machinery_7188 .

Gavrilović, Marko, Radulović, Radoslav, Milić, Milica, Trišović, Nataša, "Optimal Number of Cells in a Numerical Grid for Fluid Flow around the Body" in 9th International Scientific Conference on Advances in Mechanical Engineering (ISCAME), the Book of Abstracts, 2023 Trans Tech Publications Ltd, Switzerland, 2 (2023):27-27,
https://hdl.handle.net/21.15107/rcub_machinery_7188 .

TY  - CONF
AU  - Radulović, Radoslav
AU  - Milić, Milica
AU  - Xun, Fei
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7728
AB  - This paper focuses on the conceptual design and structural analysis of winglets attached to the wings of passenger planes, with the aim of improving aircraft performance by reducing fuel consumption and increasing range. Winglets, which are upward and outward extensions of the wings, function by mitigating the drag induced by wingtip vortices. This study underscores the criticality of the winglets' design, as it must strike a balance between structural integrity and lightweight construction. To achieve these objectives, the study proposes the utilization of aluminum and composite materials in a thin-walled construction. Aluminum offers favorable strength-to-weight ratios, rendering it a commonly employed material in aircraft construction. In contrast, composite materials exhibit exceptional strength-to-weight ratios and excellent resistance to corrosion, making them highly suitable for lightweight constructions.
PB  - Serbian Society of Mechanics
C3  - 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023
T1  - COMPARATIVE STRUCTURAL ANALYSIS OF ALUMINUM AND COMPOSITE WING OF PASSENGER AIRCRAFT
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7728
ER  - 

@conference{
author = "Radulović, Radoslav and Milić, Milica and Xun, Fei",
year = "2023",
abstract = "This paper focuses on the conceptual design and structural analysis of winglets attached to the wings of passenger planes, with the aim of improving aircraft performance by reducing fuel consumption and increasing range. Winglets, which are upward and outward extensions of the wings, function by mitigating the drag induced by wingtip vortices. This study underscores the criticality of the winglets' design, as it must strike a balance between structural integrity and lightweight construction. To achieve these objectives, the study proposes the utilization of aluminum and composite materials in a thin-walled construction. Aluminum offers favorable strength-to-weight ratios, rendering it a commonly employed material in aircraft construction. In contrast, composite materials exhibit exceptional strength-to-weight ratios and excellent resistance to corrosion, making them highly suitable for lightweight constructions.",
publisher = "Serbian Society of Mechanics",
journal = "9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023",
title = "COMPARATIVE STRUCTURAL ANALYSIS OF ALUMINUM AND COMPOSITE WING OF PASSENGER AIRCRAFT",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7728"
}

Radulović, R., Milić, M.,& Xun, F.. (2023). COMPARATIVE STRUCTURAL ANALYSIS OF ALUMINUM AND COMPOSITE WING OF PASSENGER AIRCRAFT. in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023
Serbian Society of Mechanics..
https://hdl.handle.net/21.15107/rcub_machinery_7728

Radulović R, Milić M, Xun F. COMPARATIVE STRUCTURAL ANALYSIS OF ALUMINUM AND COMPOSITE WING OF PASSENGER AIRCRAFT. in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023. 2023;.
https://hdl.handle.net/21.15107/rcub_machinery_7728 .

Radulović, Radoslav, Milić, Milica, Xun, Fei, "COMPARATIVE STRUCTURAL ANALYSIS OF ALUMINUM AND COMPOSITE WING OF PASSENGER AIRCRAFT" in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023 (2023),
https://hdl.handle.net/21.15107/rcub_machinery_7728 .

TY  - CONF
AU  - Radulović, Radoslav
AU  - Milić, Milica
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7727
AB  - As the use of unmanned aerial vehicles (UAV) in the world has expanded, the market needs for the development of multi-role unmanned systems are increasing. These unmanned systems tend to largely find their constant and irreplaceable role in many industries. The development of such systems is a complex process, which, among other things, must include detailed structural, static and dynamic calculations and testing. The UAV presented in this paper is a hybrid powered aircraft with vertical take-off and landing (VTOL) with a composite structure and an innovative hybrid propulsion with a starter-generator system. VTOL gives an advantage in the exploitation of the aircraft itself, because it does not require special ground conditions or space for take-off and landing. The starter and generator system enables a smaller amount of fixed mass, such as batteries, while the structure made of composite materials enables a smaller mass and the desired characteristics of strength, resistance to corrosion and fatigue. This paper present development review process of the latest technology in terms of the concept of system and subsystem operation, as well as financially favorable and high-quality construction.
PB  - Serbian Society of Mechanics
C3  - 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023
T1  - DEVELOPMENT OF A HYBRID FIXED-WING VTOL UNMANNED AERIAL VEHICLE
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7727
ER  - 

@conference{
author = "Radulović, Radoslav and Milić, Milica",
year = "2023",
abstract = "As the use of unmanned aerial vehicles (UAV) in the world has expanded, the market needs for the development of multi-role unmanned systems are increasing. These unmanned systems tend to largely find their constant and irreplaceable role in many industries. The development of such systems is a complex process, which, among other things, must include detailed structural, static and dynamic calculations and testing. The UAV presented in this paper is a hybrid powered aircraft with vertical take-off and landing (VTOL) with a composite structure and an innovative hybrid propulsion with a starter-generator system. VTOL gives an advantage in the exploitation of the aircraft itself, because it does not require special ground conditions or space for take-off and landing. The starter and generator system enables a smaller amount of fixed mass, such as batteries, while the structure made of composite materials enables a smaller mass and the desired characteristics of strength, resistance to corrosion and fatigue. This paper present development review process of the latest technology in terms of the concept of system and subsystem operation, as well as financially favorable and high-quality construction.",
publisher = "Serbian Society of Mechanics",
journal = "9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023",
title = "DEVELOPMENT OF A HYBRID FIXED-WING VTOL UNMANNED AERIAL VEHICLE",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7727"
}

Radulović, R.,& Milić, M.. (2023). DEVELOPMENT OF A HYBRID FIXED-WING VTOL UNMANNED AERIAL VEHICLE. in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023
Serbian Society of Mechanics..
https://hdl.handle.net/21.15107/rcub_machinery_7727

Radulović R, Milić M. DEVELOPMENT OF A HYBRID FIXED-WING VTOL UNMANNED AERIAL VEHICLE. in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023. 2023;.
https://hdl.handle.net/21.15107/rcub_machinery_7727 .

Radulović, Radoslav, Milić, Milica, "DEVELOPMENT OF A HYBRID FIXED-WING VTOL UNMANNED AERIAL VEHICLE" in 9th International Congress of Serbian Society of Mechanics, Vrnjačka Banja 5–7.07.2023 (2023),
https://hdl.handle.net/21.15107/rcub_machinery_7727 .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Radulović, Radoslav
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3821
AB  - The production industries have repeatedly combated the problem of system modelling. Successful control of a system depends mainly on the exactness of the mathematical model that predicts its dynamic. Different types of studies are very common in the complicated challenges involving the estimations and approximations in describing nonlinear machines are based on a variety of studies. This article examines the behaviour and stability of holonomic mechanical system in the the arbitrary parameter sets and functional configuration of forces. Differential equations of the behaviour are obtained for the proposed system on the ground of general mechanical theorems, kinetic and potential energies of the system. Lagrange’s equations of the first and second kind are introduced, as well as the representation of the system in the generalized coordinates and in Hamilton’s equations. In addition to the numerical calculations applied the system, the theoretical structures and clarifications on which all of the methods rely on are also presented. Furthermore, static equilibriums are found via two different approaches: graphical and numerical. Above all, stability of motion of undisturbed system and, later, the system that works under the action of an external disturbance was inspected. Finally, the stability of motion is reviewed through Lagrange–Dirichlet theorem, and Routh and Hurwitz criteria. Linearized equations are obtained from the nonlinear ones, and previous conclusions for the stability were proved.
PB  - Srpsko društvo za mehaniku, Beograd
T2  - Theoretical and Applied Mechanics
T1  - Modelovanje i analiza stabilnosti datog nelinearnog sistema
T1  - Modelling and stability analysis of the nonlinear system
EP  - 48
IS  - 1
SP  - 29
VL  - 49
DO  - 10.2298/TAM211101003V
ER  - 

@article{
author = "Vesović, Mitra and Radulović, Radoslav",
year = "2022",
abstract = "The production industries have repeatedly combated the problem of system modelling. Successful control of a system depends mainly on the exactness of the mathematical model that predicts its dynamic. Different types of studies are very common in the complicated challenges involving the estimations and approximations in describing nonlinear machines are based on a variety of studies. This article examines the behaviour and stability of holonomic mechanical system in the the arbitrary parameter sets and functional configuration of forces. Differential equations of the behaviour are obtained for the proposed system on the ground of general mechanical theorems, kinetic and potential energies of the system. Lagrange’s equations of the first and second kind are introduced, as well as the representation of the system in the generalized coordinates and in Hamilton’s equations. In addition to the numerical calculations applied the system, the theoretical structures and clarifications on which all of the methods rely on are also presented. Furthermore, static equilibriums are found via two different approaches: graphical and numerical. Above all, stability of motion of undisturbed system and, later, the system that works under the action of an external disturbance was inspected. Finally, the stability of motion is reviewed through Lagrange–Dirichlet theorem, and Routh and Hurwitz criteria. Linearized equations are obtained from the nonlinear ones, and previous conclusions for the stability were proved.",
publisher = "Srpsko društvo za mehaniku, Beograd",
journal = "Theoretical and Applied Mechanics",
title = "Modelovanje i analiza stabilnosti datog nelinearnog sistema, Modelling and stability analysis of the nonlinear system",
pages = "48-29",
number = "1",
volume = "49",
doi = "10.2298/TAM211101003V"
}

Vesović, M.,& Radulović, R.. (2022). Modelovanje i analiza stabilnosti datog nelinearnog sistema. in Theoretical and Applied Mechanics
Srpsko društvo za mehaniku, Beograd., 49(1), 29-48.
https://doi.org/10.2298/TAM211101003V

Vesović M, Radulović R. Modelovanje i analiza stabilnosti datog nelinearnog sistema. in Theoretical and Applied Mechanics. 2022;49(1):29-48.
doi:10.2298/TAM211101003V .

Vesović, Mitra, Radulović, Radoslav, "Modelovanje i analiza stabilnosti datog nelinearnog sistema" in Theoretical and Applied Mechanics, 49, no. 1 (2022):29-48,
https://doi.org/10.2298/TAM211101003V . .

TY  - CONF
AU  - Jevtić, Đorđe
AU  - Svorcan, Jelena
AU  - Radulović, Radoslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3647
AB  - In recent years, quadrotors are one of the most popular platforms for the development of unmanned aerial vehicles, and their application trend is rapidly increasing for both commercial and research purposes. Their main advantages compared to other types of flying vehicles are the ability to hover, minimal operating space, vertical take-off, and landing capability, as well as smaller overall dimensions. However, their breakthrough into the market is due to their longer flight time and the fact that today they can carry much more payload. This paper aims to present the basic idea behind the conceptual development of the quadrotor, with special reference to aerodynamic effects that are important for this type of aircraft. It will be shown that, although thrust force is represented by simplified equations in literature, in the general case it depends on the vehicular velocity and its angle of attack. Therefore, its expressions will be different and will depend on flight mode, as is shown in the paper. Furthermore, it will be presented that less power is needed for the same thrust force when the quadrotor flights near the ground. The main advantages of the quadrotor concept will be explained, where it will be shown that blade flapping and the gyroscopic effect can be significantly suppressed due to the opposite direction of rotation of the rotor. The kinematic model is given and the formulated dynamic model is based on Newton-Euler formalism.
PB  - Springer Science and Business Media Deutschland GmbH
C3  - Lecture Notes in Networks and Systems
T1  - Flight Mechanics, Aerodynamics and Modelling of Quadrotor
EP  - 689
SP  - 681
VL  - 233
DO  - 10.1007/978-3-030-75275-0_75
ER  - 

@conference{
author = "Jevtić, Đorđe and Svorcan, Jelena and Radulović, Radoslav",
year = "2021",
abstract = "In recent years, quadrotors are one of the most popular platforms for the development of unmanned aerial vehicles, and their application trend is rapidly increasing for both commercial and research purposes. Their main advantages compared to other types of flying vehicles are the ability to hover, minimal operating space, vertical take-off, and landing capability, as well as smaller overall dimensions. However, their breakthrough into the market is due to their longer flight time and the fact that today they can carry much more payload. This paper aims to present the basic idea behind the conceptual development of the quadrotor, with special reference to aerodynamic effects that are important for this type of aircraft. It will be shown that, although thrust force is represented by simplified equations in literature, in the general case it depends on the vehicular velocity and its angle of attack. Therefore, its expressions will be different and will depend on flight mode, as is shown in the paper. Furthermore, it will be presented that less power is needed for the same thrust force when the quadrotor flights near the ground. The main advantages of the quadrotor concept will be explained, where it will be shown that blade flapping and the gyroscopic effect can be significantly suppressed due to the opposite direction of rotation of the rotor. The kinematic model is given and the formulated dynamic model is based on Newton-Euler formalism.",
publisher = "Springer Science and Business Media Deutschland GmbH",
journal = "Lecture Notes in Networks and Systems",
title = "Flight Mechanics, Aerodynamics and Modelling of Quadrotor",
pages = "689-681",
volume = "233",
doi = "10.1007/978-3-030-75275-0_75"
}

Jevtić, Đ., Svorcan, J.,& Radulović, R.. (2021). Flight Mechanics, Aerodynamics and Modelling of Quadrotor. in Lecture Notes in Networks and Systems
Springer Science and Business Media Deutschland GmbH., 233, 681-689.
https://doi.org/10.1007/978-3-030-75275-0_75

Jevtić Đ, Svorcan J, Radulović R. Flight Mechanics, Aerodynamics and Modelling of Quadrotor. in Lecture Notes in Networks and Systems. 2021;233:681-689.
doi:10.1007/978-3-030-75275-0_75 .

Jevtić, Đorđe, Svorcan, Jelena, Radulović, Radoslav, "Flight Mechanics, Aerodynamics and Modelling of Quadrotor" in Lecture Notes in Networks and Systems, 233 (2021):681-689,
https://doi.org/10.1007/978-3-030-75275-0_75 . .

TY  - CONF
AU  - Vesović, Mitra
AU  - Radulović, Radoslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4542
AB  - The paper considers motion and stability of a holonomic mechanical system in the vertical 
plane of an arbitrary force field. Differential equations of motion are created for a given system on 
the basis of general theorems of dynamics. Insights into generalized coordinates, Lagrange’s 
equations of the second kind, covariant and Hamilton’s equations are presented. Additionally to 
numerical procedures in the paper, a review of the theoretical foundations is performed. Also, the 
conditions of static equilibrium are solved numerically and by applying the intersection of the two 
curves. The paper introduced kinetic as well as the potential energy of the system. The spatial 
arrangement of equilibrium positions and behavior of the potential energy in the environment of 
the equilibrium positions is shown. Finally, the stability of motion for analysis is approached 
through Lagrange - Dirichlet theorem. Moreover, special attention is paid to examining effects 
responses of the disturbed and undisturbed system. Nonlinear and linearized equations are obtained in order to check the stability of the system for disturbed and undisturbed motion using Hurwitz stability criterion. Various procedures are verificated by drawing the same conclusions.
PB  - Belgrade : Serbian Society of Mechanics
C3  - 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021
T1  - BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS
EP  - 63
SP  - Session M.5.2: General Mechanics (part II) pp. 54
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4542
ER  - 

@conference{
author = "Vesović, Mitra and Radulović, Radoslav",
year = "2021",
abstract = "The paper considers motion and stability of a holonomic mechanical system in the vertical 
plane of an arbitrary force field. Differential equations of motion are created for a given system on 
the basis of general theorems of dynamics. Insights into generalized coordinates, Lagrange’s 
equations of the second kind, covariant and Hamilton’s equations are presented. Additionally to 
numerical procedures in the paper, a review of the theoretical foundations is performed. Also, the 
conditions of static equilibrium are solved numerically and by applying the intersection of the two 
curves. The paper introduced kinetic as well as the potential energy of the system. The spatial 
arrangement of equilibrium positions and behavior of the potential energy in the environment of 
the equilibrium positions is shown. Finally, the stability of motion for analysis is approached 
through Lagrange - Dirichlet theorem. Moreover, special attention is paid to examining effects 
responses of the disturbed and undisturbed system. Nonlinear and linearized equations are obtained in order to check the stability of the system for disturbed and undisturbed motion using Hurwitz stability criterion. Various procedures are verificated by drawing the same conclusions.",
publisher = "Belgrade : Serbian Society of Mechanics",
journal = "8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021",
title = "BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS",
pages = "63-Session M.5.2: General Mechanics (part II) pp. 54",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4542"
}

Vesović, M.,& Radulović, R.. (2021). BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS. in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021
Belgrade : Serbian Society of Mechanics., Session M.5.2: General Mechanics (part II) pp. 54-63.
https://hdl.handle.net/21.15107/rcub_machinery_4542

Vesović M, Radulović R. BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS. in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021. 2021;:Session M.5.2: General Mechanics (part II) pp. 54-63.
https://hdl.handle.net/21.15107/rcub_machinery_4542 .

Vesović, Mitra, Radulović, Radoslav, "BEHAVIOUR, EXAMINATION AND STABILITY OF THE CONSTRAINED  MECHANICAL SYSTEM DESCRIBED WITH NONLINEAR EQUATIONS" in 8th International Congress of Serbian Society of Mechanics  Kragujevac, Serbia, June 28-30, 2021 (2021):Session M.5.2: General Mechanics (part II) pp. 54-63,
https://hdl.handle.net/21.15107/rcub_machinery_4542 .

TY  - JOUR
AU  - Vesović, Mitra
AU  - Petrović, Goran R.
AU  - Radulović, Radoslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3579
AB  - U cilju dobijanja uvida u rad mašine pre njene montaže i proizvodnje, kao i dobijanja dobre analize, ovaj rad predstavlja detaljna rešenja specifičnog problema iz oblasti analitičke mehanike. Pored numeričkih postupaka u radu, izvršen je i pregled teorijskih osnova. Razne vrste analiza su vrlo česte u mašinskom inženjerstvu, zbog mogućnosti aproksimacije složenih mašina. Za predloženi sistem date su Lagranžove jednačine prve vrste, kovarijantne i kontravarijantne jednačine, Hamiltonove jednačine, generalisane koordinate, kao i uvid u Kulonovu silu trenja. Takođe, rešeni su i uslovi statičke ravnoteže uz pomoć numeričkih i grafičkih postupaka - presekom dve krive. Konačno, razmatrana je i stabilnost kretanja poremećenog i neporemećenog kretanja.
AB  - In order to give an insight into the work of the machine before the production and assembly and to obtain good analysis, this paper presents detailed solutions to the specific problem occured in the field of analytical mechanics. In addition to numerical procedures in the paper, a review of the theoretical foundations was made.Various types of analysis are very common in mechanical engineering, due to the possibility of an approximation of complex machines. For the proposed system, Lagrange's equations of the first kind, covariant and contravariant equations, Hamiltons equations and the generalized coordinates, as well as insight in Coulumb friction force are provided.Also, the conditions of static equilibrium are solved numerically and using intersection of the two curves. Finally, stability of motion for the disturbed and undisturbed system was investigated.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila
T1  - Analysis of the motion and stability of the holonomic mechanical system in the arbitrary force field
EP  - 205
IS  - 1
SP  - 195
VL  - 49
DO  - 10.5937/fme2101195V
ER  - 

@article{
author = "Vesović, Mitra and Petrović, Goran R. and Radulović, Radoslav",
year = "2021",
abstract = "U cilju dobijanja uvida u rad mašine pre njene montaže i proizvodnje, kao i dobijanja dobre analize, ovaj rad predstavlja detaljna rešenja specifičnog problema iz oblasti analitičke mehanike. Pored numeričkih postupaka u radu, izvršen je i pregled teorijskih osnova. Razne vrste analiza su vrlo česte u mašinskom inženjerstvu, zbog mogućnosti aproksimacije složenih mašina. Za predloženi sistem date su Lagranžove jednačine prve vrste, kovarijantne i kontravarijantne jednačine, Hamiltonove jednačine, generalisane koordinate, kao i uvid u Kulonovu silu trenja. Takođe, rešeni su i uslovi statičke ravnoteže uz pomoć numeričkih i grafičkih postupaka - presekom dve krive. Konačno, razmatrana je i stabilnost kretanja poremećenog i neporemećenog kretanja., In order to give an insight into the work of the machine before the production and assembly and to obtain good analysis, this paper presents detailed solutions to the specific problem occured in the field of analytical mechanics. In addition to numerical procedures in the paper, a review of the theoretical foundations was made.Various types of analysis are very common in mechanical engineering, due to the possibility of an approximation of complex machines. For the proposed system, Lagrange's equations of the first kind, covariant and contravariant equations, Hamiltons equations and the generalized coordinates, as well as insight in Coulumb friction force are provided.Also, the conditions of static equilibrium are solved numerically and using intersection of the two curves. Finally, stability of motion for the disturbed and undisturbed system was investigated.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila, Analysis of the motion and stability of the holonomic mechanical system in the arbitrary force field",
pages = "205-195",
number = "1",
volume = "49",
doi = "10.5937/fme2101195V"
}

Vesović, M., Petrović, G. R.,& Radulović, R.. (2021). Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 49(1), 195-205.
https://doi.org/10.5937/fme2101195V

Vesović M, Petrović GR, Radulović R. Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila. in FME Transactions. 2021;49(1):195-205.
doi:10.5937/fme2101195V .

Vesović, Mitra, Petrović, Goran R., Radulović, Radoslav, "Analiza kretanja i stabilnosti holonomnog mehaničkog sistema u proizvoljnom polju sila" in FME Transactions, 49, no. 1 (2021):195-205,
https://doi.org/10.5937/fme2101195V . .

TY  - JOUR
AU  - Zorić, Nemanja
AU  - Radulović, Radoslav
AU  - Jazarević, Vladimir
AU  - Petrović, Trajko B.
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3263
AB  - This paper presents the design of a thrust controller for a ramjet engine. The mathematical model for controller synthesis is based on a numerical solution of a set of nonlinear equations. Transfer functions of the engine are found for certain operation points defined by the altitude, Mach number and angle of attack. Local controllers are developed by using H-infinity control methodology, finally reduced to proportional-integral (PI) controllers. For gain scheduling, linear interpolation of parameters of the local PI controllers is used. Next, simulations are performed in order to show performances of the presented control algorithm.
PB  - Polish Soc Theoretical & Applied Mechanics, Warszawa
T2  - Journal of Theoretical and Applied Mechanics
T1  - Design of h-infinity proportional-integral thrust controller for ramjet engine
EP  - 1007
IS  - 4
SP  - 997
VL  - 58
DO  - 10.15632/jtam-pl/126664
ER  - 

@article{
author = "Zorić, Nemanja and Radulović, Radoslav and Jazarević, Vladimir and Petrović, Trajko B.",
year = "2020",
abstract = "This paper presents the design of a thrust controller for a ramjet engine. The mathematical model for controller synthesis is based on a numerical solution of a set of nonlinear equations. Transfer functions of the engine are found for certain operation points defined by the altitude, Mach number and angle of attack. Local controllers are developed by using H-infinity control methodology, finally reduced to proportional-integral (PI) controllers. For gain scheduling, linear interpolation of parameters of the local PI controllers is used. Next, simulations are performed in order to show performances of the presented control algorithm.",
publisher = "Polish Soc Theoretical & Applied Mechanics, Warszawa",
journal = "Journal of Theoretical and Applied Mechanics",
title = "Design of h-infinity proportional-integral thrust controller for ramjet engine",
pages = "1007-997",
number = "4",
volume = "58",
doi = "10.15632/jtam-pl/126664"
}

Zorić, N., Radulović, R., Jazarević, V.,& Petrović, T. B.. (2020). Design of h-infinity proportional-integral thrust controller for ramjet engine. in Journal of Theoretical and Applied Mechanics
Polish Soc Theoretical & Applied Mechanics, Warszawa., 58(4), 997-1007.
https://doi.org/10.15632/jtam-pl/126664

Zorić N, Radulović R, Jazarević V, Petrović TB. Design of h-infinity proportional-integral thrust controller for ramjet engine. in Journal of Theoretical and Applied Mechanics. 2020;58(4):997-1007.
doi:10.15632/jtam-pl/126664 .

Zorić, Nemanja, Radulović, Radoslav, Jazarević, Vladimir, Petrović, Trajko B., "Design of h-infinity proportional-integral thrust controller for ramjet engine" in Journal of Theoretical and Applied Mechanics, 58, no. 4 (2020):997-1007,
https://doi.org/10.15632/jtam-pl/126664 . .

TY  - CONF
AU  - Zorić, Nemanja
AU  - Radulović, Radoslav
AU  - Jazarević, Vladimir
AU  - Mitrović, Zoran
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3991
AB  - Ramjet engine presents the simplest type of jet engines since it does not possess moving parts, like
compressors, shafts and turbines. Besides its simplicity, it provides efficient performances in a wide range of altitudes,
supersonic speeds and angles of attack. In order to provide desirable performances during exploitations, a ramjet
engine must be operated by means of feedback control. This paper presents the design of robust H∞ controller for thrust
controller of the ramjet engine. Linear model of the engine is obtained by numerical solution of nonlinear equations
which describe processes in the engine. This model is found for operation points in the operational envelop, defined by
a single altitude, a single Mach number and a single angle of attack. The thrust controller is developed by using the H∞
control methodology for single representative operation point. After that, obtained controller is reduced to the PI
controller and its performances are compared with performances of the full order controller. Also, these controllers are
applied to other operation points which closed-lop performances are then compared. The analysis of necessity for the
gain scheduling implementation is performed.
PB  - Belgrade : Military Technical Institute
C3  - 9th International Scientific Conference on Defensive Technologies (OTEH 2020), Beograd, Serbia, October 15-16 2020
T1  - H∞ Robust Control of Ramjet Engine
UR  - https://hdl.handle.net/21.15107/rcub_machinery_3991
ER  - 

@conference{
author = "Zorić, Nemanja and Radulović, Radoslav and Jazarević, Vladimir and Mitrović, Zoran",
year = "2020",
abstract = "Ramjet engine presents the simplest type of jet engines since it does not possess moving parts, like
compressors, shafts and turbines. Besides its simplicity, it provides efficient performances in a wide range of altitudes,
supersonic speeds and angles of attack. In order to provide desirable performances during exploitations, a ramjet
engine must be operated by means of feedback control. This paper presents the design of robust H∞ controller for thrust
controller of the ramjet engine. Linear model of the engine is obtained by numerical solution of nonlinear equations
which describe processes in the engine. This model is found for operation points in the operational envelop, defined by
a single altitude, a single Mach number and a single angle of attack. The thrust controller is developed by using the H∞
control methodology for single representative operation point. After that, obtained controller is reduced to the PI
controller and its performances are compared with performances of the full order controller. Also, these controllers are
applied to other operation points which closed-lop performances are then compared. The analysis of necessity for the
gain scheduling implementation is performed.",
publisher = "Belgrade : Military Technical Institute",
journal = "9th International Scientific Conference on Defensive Technologies (OTEH 2020), Beograd, Serbia, October 15-16 2020",
title = "H∞ Robust Control of Ramjet Engine",
url = "https://hdl.handle.net/21.15107/rcub_machinery_3991"
}

Zorić, N., Radulović, R., Jazarević, V.,& Mitrović, Z.. (2020). H∞ Robust Control of Ramjet Engine. in 9th International Scientific Conference on Defensive Technologies (OTEH 2020), Beograd, Serbia, October 15-16 2020
Belgrade : Military Technical Institute..
https://hdl.handle.net/21.15107/rcub_machinery_3991

Zorić N, Radulović R, Jazarević V, Mitrović Z. H∞ Robust Control of Ramjet Engine. in 9th International Scientific Conference on Defensive Technologies (OTEH 2020), Beograd, Serbia, October 15-16 2020. 2020;.
https://hdl.handle.net/21.15107/rcub_machinery_3991 .

Zorić, Nemanja, Radulović, Radoslav, Jazarević, Vladimir, Mitrović, Zoran, "H∞ Robust Control of Ramjet Engine" in 9th International Scientific Conference on Defensive Technologies (OTEH 2020), Beograd, Serbia, October 15-16 2020 (2020),
https://hdl.handle.net/21.15107/rcub_machinery_3991 .

TY  - JOUR
AU  - Jeremić, Bojan
AU  - Radulović, Radoslav
AU  - Zorić, Nemanja
AU  - Dražić, Milan
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2997
AB  - 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.
PB  - Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš
T2  - Filomat
T1  - Realizing Brachistochronic Planar Motion of a Variable Mass Nonholonomic Mechanical System by an Ideal Holonomic Constraint with Restricted Reaction
EP  - 4401
IS  - 14
SP  - 4387
VL  - 33
DO  - 10.2298/FIL1914387J
ER  - 

@article{
author = "Jeremić, Bojan and Radulović, Radoslav and Zorić, Nemanja and Dražić, Milan",
year = "2019",
abstract = "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.",
publisher = "Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš",
journal = "Filomat",
title = "Realizing Brachistochronic Planar Motion of a Variable Mass Nonholonomic Mechanical System by an Ideal Holonomic Constraint with Restricted Reaction",
pages = "4401-4387",
number = "14",
volume = "33",
doi = "10.2298/FIL1914387J"
}

Jeremić, B., Radulović, R., Zorić, N.,& Dražić, M.. (2019). Realizing Brachistochronic Planar Motion of a Variable Mass Nonholonomic Mechanical System by an Ideal Holonomic Constraint with Restricted Reaction. in Filomat
Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš., 33(14), 4387-4401.
https://doi.org/10.2298/FIL1914387J

Jeremić B, Radulović R, Zorić N, Dražić M. Realizing Brachistochronic Planar Motion of a Variable Mass Nonholonomic Mechanical System by an Ideal Holonomic Constraint with Restricted Reaction. in Filomat. 2019;33(14):4387-4401.
doi:10.2298/FIL1914387J .

Jeremić, Bojan, Radulović, Radoslav, Zorić, Nemanja, Dražić, Milan, "Realizing Brachistochronic Planar Motion of a Variable Mass Nonholonomic Mechanical System by an Ideal Holonomic Constraint with Restricted Reaction" in Filomat, 33, no. 14 (2019):4387-4401,
https://doi.org/10.2298/FIL1914387J . .

TY  - CONF
AU  - Zorić, Nemanja
AU  - Radulović, Radoslav
AU  - Jazarević, Vladimir
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3985
AB  - During last years, along with development of electric propulsion systems, developments of
multi-rotor unmanned aerial vehicles (UAV) are pushed strongly. The main benefits of this
concept of UAV over standard helicopters are mechanical simplicity, decoupled dynamics and
cheaper manufacturing, especially in small dimensions. On the other side, multi-rotor vehicles are
less efficiency than fixed-wing vehicles, especially for long-distance flight. The traditional fixedwing
UAVs can fly for long distances, but they require runways for take-off and landing. By
combining vertical take-off and landing (VTOL) capabilities of multi-rotor vehicles and energy
efficient long-distance flight of fixed wing vehicles, new type of UAVs is involved: VTOL UAV.
This paper presents development of small electric powered fixed-wing VTOL UAV. This aircraft
is the part of the project of large hybrid VTOL UAV by company EDePro and it is intended to be
technology demonstration model and platform for testing VTOL and transition capabilities as
well as autopilot and other systems and subsystems development.
C3  - 7th International Congress of Serbian Society of Mechanics, Sremski Karlovci, Serbia, June 24-26 2019
T1  - Development of Small Electric Fixed-Wing VTOL UAV
SP  - 1/I1e
UR  - https://hdl.handle.net/21.15107/rcub_machinery_3985
ER  - 

@conference{
author = "Zorić, Nemanja and Radulović, Radoslav and Jazarević, Vladimir",
year = "2019",
abstract = "During last years, along with development of electric propulsion systems, developments of
multi-rotor unmanned aerial vehicles (UAV) are pushed strongly. The main benefits of this
concept of UAV over standard helicopters are mechanical simplicity, decoupled dynamics and
cheaper manufacturing, especially in small dimensions. On the other side, multi-rotor vehicles are
less efficiency than fixed-wing vehicles, especially for long-distance flight. The traditional fixedwing
UAVs can fly for long distances, but they require runways for take-off and landing. By
combining vertical take-off and landing (VTOL) capabilities of multi-rotor vehicles and energy
efficient long-distance flight of fixed wing vehicles, new type of UAVs is involved: VTOL UAV.
This paper presents development of small electric powered fixed-wing VTOL UAV. This aircraft
is the part of the project of large hybrid VTOL UAV by company EDePro and it is intended to be
technology demonstration model and platform for testing VTOL and transition capabilities as
well as autopilot and other systems and subsystems development.",
journal = "7th International Congress of Serbian Society of Mechanics, Sremski Karlovci, Serbia, June 24-26 2019",
title = "Development of Small Electric Fixed-Wing VTOL UAV",
pages = "1/I1e",
url = "https://hdl.handle.net/21.15107/rcub_machinery_3985"
}

Zorić, N., Radulović, R.,& Jazarević, V.. (2019). Development of Small Electric Fixed-Wing VTOL UAV. in 7th International Congress of Serbian Society of Mechanics, Sremski Karlovci, Serbia, June 24-26 2019, 1/I1e.
https://hdl.handle.net/21.15107/rcub_machinery_3985

Zorić N, Radulović R, Jazarević V. Development of Small Electric Fixed-Wing VTOL UAV. in 7th International Congress of Serbian Society of Mechanics, Sremski Karlovci, Serbia, June 24-26 2019. 2019;:1/I1e.
https://hdl.handle.net/21.15107/rcub_machinery_3985 .

Zorić, Nemanja, Radulović, Radoslav, Jazarević, Vladimir, "Development of Small Electric Fixed-Wing VTOL UAV" in 7th International Congress of Serbian Society of Mechanics, Sremski Karlovci, Serbia, June 24-26 2019 (2019):1/I1e,
https://hdl.handle.net/21.15107/rcub_machinery_3985 .

TY  - JOUR
AU  - Zorić, Nemanja
AU  - Tomović, Aleksandar
AU  - Obradović, Aleksandar
AU  - Radulović, Radoslav
AU  - Petrović, Goran R.
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4325
AB  - This paper deals with optimization of the sizing, location and orientation of the piezo-fiber reinforced composite (PFRC) actuators and active vibration control of the smart composite plates using particle-swarm optimized self-tuning fuzzy logic controller. The optimization criteria for optimal sizing, location and orientation of the PFRC actuators is based on the Gramian controllability matrix and the optimization process is performed by involving the limitation of the plates masses increase. Optimal configurations of five PFRC actuators for active vibration control of the first six modes of cantilever symmetric ((90 degrees/0 degrees/90 degrees/0 degrees)s), antisymmetric cross-ply ((90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees)) and antisymmetric angle-ply ((45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees)) composite plates are found using the particle swarm optimization. The detailed analysis of influences of the PFRC layer orientation and position (top or bottom side of composite plates), as well as bending-extension coupling of antisymmetric laminates on controllabilities is also performed. The experimental study is performed in order to validate this behavior on controllabilities of antisymmetric laminates. The particle swarm-optimized self-tuning fuzzy logic controller (FLC) adapted for the multiple-input multiple-output (MIMO) control is implemented for active vibration suppression of the plates. The membership functions as well as output matrices are optimized using the particle swarm optimization. The Mamdani and the zero-order Takagi-Sugeno-Kang fuzzy inference methods are employed and their performances are examined and compared. In order to represent the efficiency of the proposed controller, results obtained using the proposed particle swarm optimized self-tuning FLC are compared with the corresponding results in the case of the linear quadratic regulator (LQR) optimal control strategy.
PB  - Academic Press Ltd- Elsevier Science Ltd, London
T2  - Journal of Sound and Vibration
T1  - Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators
EP  - 198
SP  - 173
VL  - 456
DO  - 10.1016/j.jsv.2019.05.035
ER  - 

@article{
author = "Zorić, Nemanja and Tomović, Aleksandar and Obradović, Aleksandar and Radulović, Radoslav and Petrović, Goran R.",
year = "2019",
abstract = "This paper deals with optimization of the sizing, location and orientation of the piezo-fiber reinforced composite (PFRC) actuators and active vibration control of the smart composite plates using particle-swarm optimized self-tuning fuzzy logic controller. The optimization criteria for optimal sizing, location and orientation of the PFRC actuators is based on the Gramian controllability matrix and the optimization process is performed by involving the limitation of the plates masses increase. Optimal configurations of five PFRC actuators for active vibration control of the first six modes of cantilever symmetric ((90 degrees/0 degrees/90 degrees/0 degrees)s), antisymmetric cross-ply ((90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees)) and antisymmetric angle-ply ((45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees)) composite plates are found using the particle swarm optimization. The detailed analysis of influences of the PFRC layer orientation and position (top or bottom side of composite plates), as well as bending-extension coupling of antisymmetric laminates on controllabilities is also performed. The experimental study is performed in order to validate this behavior on controllabilities of antisymmetric laminates. The particle swarm-optimized self-tuning fuzzy logic controller (FLC) adapted for the multiple-input multiple-output (MIMO) control is implemented for active vibration suppression of the plates. The membership functions as well as output matrices are optimized using the particle swarm optimization. The Mamdani and the zero-order Takagi-Sugeno-Kang fuzzy inference methods are employed and their performances are examined and compared. In order to represent the efficiency of the proposed controller, results obtained using the proposed particle swarm optimized self-tuning FLC are compared with the corresponding results in the case of the linear quadratic regulator (LQR) optimal control strategy.",
publisher = "Academic Press Ltd- Elsevier Science Ltd, London",
journal = "Journal of Sound and Vibration",
title = "Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators",
pages = "198-173",
volume = "456",
doi = "10.1016/j.jsv.2019.05.035"
}

Zorić, N., Tomović, A., Obradović, A., Radulović, R.,& Petrović, G. R.. (2019). Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators. in Journal of Sound and Vibration
Academic Press Ltd- Elsevier Science Ltd, London., 456, 173-198.
https://doi.org/10.1016/j.jsv.2019.05.035

Zorić N, Tomović A, Obradović A, Radulović R, Petrović GR. Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators. in Journal of Sound and Vibration. 2019;456:173-198.
doi:10.1016/j.jsv.2019.05.035 .

Zorić, Nemanja, Tomović, Aleksandar, Obradović, Aleksandar, Radulović, Radoslav, Petrović, Goran R., "Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators" in Journal of Sound and Vibration, 456 (2019):173-198,
https://doi.org/10.1016/j.jsv.2019.05.035 . .

TY  - JOUR
AU  - Zorić, Nemanja
AU  - Tomović, Aleksandar
AU  - Obradović, Aleksandar
AU  - Radulović, Radoslav
AU  - Petrović, Goran R.
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3026
AB  - This paper deals with optimization of the sizing, location and orientation of the piezo-fiber reinforced composite (PFRC) actuators and active vibration control of the smart composite plates using particle-swarm optimized self-tuning fuzzy logic controller. The optimization criteria for optimal sizing, location and orientation of the PFRC actuators is based on the Gramian controllability matrix and the optimization process is performed by involving the limitation of the plates masses increase. Optimal configurations of five PFRC actuators for active vibration control of the first six modes of cantilever symmetric ((90 degrees/0 degrees/90 degrees/0 degrees)s), antisymmetric cross-ply ((90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees)) and antisymmetric angle-ply ((45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees)) composite plates are found using the particle swarm optimization. The detailed analysis of influences of the PFRC layer orientation and position (top or bottom side of composite plates), as well as bending-extension coupling of antisymmetric laminates on controllabilities is also performed. The experimental study is performed in order to validate this behavior on controllabilities of antisymmetric laminates. The particle swarm-optimized self-tuning fuzzy logic controller (FLC) adapted for the multiple-input multiple-output (MIMO) control is implemented for active vibration suppression of the plates. The membership functions as well as output matrices are optimized using the particle swarm optimization. The Mamdani and the zero-order Takagi-Sugeno-Kang fuzzy inference methods are employed and their performances are examined and compared. In order to represent the efficiency of the proposed controller, results obtained using the proposed particle swarm optimized self-tuning FLC are compared with the corresponding results in the case of the linear quadratic regulator (LQR) optimal control strategy.
PB  - Academic Press Ltd- Elsevier Science Ltd, London
T2  - Journal of Sound and Vibration
T1  - Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators
EP  - 198
SP  - 173
VL  - 456
DO  - 10.1016/j.jsv.2019.05.035
ER  - 

@article{
author = "Zorić, Nemanja and Tomović, Aleksandar and Obradović, Aleksandar and Radulović, Radoslav and Petrović, Goran R.",
year = "2019",
abstract = "This paper deals with optimization of the sizing, location and orientation of the piezo-fiber reinforced composite (PFRC) actuators and active vibration control of the smart composite plates using particle-swarm optimized self-tuning fuzzy logic controller. The optimization criteria for optimal sizing, location and orientation of the PFRC actuators is based on the Gramian controllability matrix and the optimization process is performed by involving the limitation of the plates masses increase. Optimal configurations of five PFRC actuators for active vibration control of the first six modes of cantilever symmetric ((90 degrees/0 degrees/90 degrees/0 degrees)s), antisymmetric cross-ply ((90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees/90 degrees/0 degrees)) and antisymmetric angle-ply ((45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees/45 degrees/-45 degrees)) composite plates are found using the particle swarm optimization. The detailed analysis of influences of the PFRC layer orientation and position (top or bottom side of composite plates), as well as bending-extension coupling of antisymmetric laminates on controllabilities is also performed. The experimental study is performed in order to validate this behavior on controllabilities of antisymmetric laminates. The particle swarm-optimized self-tuning fuzzy logic controller (FLC) adapted for the multiple-input multiple-output (MIMO) control is implemented for active vibration suppression of the plates. The membership functions as well as output matrices are optimized using the particle swarm optimization. The Mamdani and the zero-order Takagi-Sugeno-Kang fuzzy inference methods are employed and their performances are examined and compared. In order to represent the efficiency of the proposed controller, results obtained using the proposed particle swarm optimized self-tuning FLC are compared with the corresponding results in the case of the linear quadratic regulator (LQR) optimal control strategy.",
publisher = "Academic Press Ltd- Elsevier Science Ltd, London",
journal = "Journal of Sound and Vibration",
title = "Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators",
pages = "198-173",
volume = "456",
doi = "10.1016/j.jsv.2019.05.035"
}

Zorić, N., Tomović, A., Obradović, A., Radulović, R.,& Petrović, G. R.. (2019). Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators. in Journal of Sound and Vibration
Academic Press Ltd- Elsevier Science Ltd, London., 456, 173-198.
https://doi.org/10.1016/j.jsv.2019.05.035

Zorić N, Tomović A, Obradović A, Radulović R, Petrović GR. Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators. in Journal of Sound and Vibration. 2019;456:173-198.
doi:10.1016/j.jsv.2019.05.035 .

Zorić, Nemanja, Tomović, Aleksandar, Obradović, Aleksandar, Radulović, Radoslav, Petrović, Goran R., "Active vibration control of smart composite plates using optimized self-tuning fuzzy logic controller with optimization of placement, sizing and orientation of PFRC actuators" in Journal of Sound and Vibration, 456 (2019):173-198,
https://doi.org/10.1016/j.jsv.2019.05.035 . .

TY  - CONF
AU  - Radulović, Radoslav
AU  - Jeremić, Bojan
AU  - Obradović, Aleksandar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4034
AB  - 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. 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. The first time-derivative of quasi-velocity is taken as control variable. 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). The
considerations are illustrated via an example.
PB  - Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019
T1  - Realization of the brachistohronic motion of a nonholonomic variable mass mechanical system by ideal holonomic constraint
SP  - M1i
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4034
ER  - 

@conference{
author = "Radulović, Radoslav and Jeremić, Bojan and Obradović, Aleksandar",
year = "2019",
abstract = "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. 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. The first time-derivative of quasi-velocity is taken as control variable. 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). The
considerations are illustrated via an example.",
publisher = "Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019",
title = "Realization of the brachistohronic motion of a nonholonomic variable mass mechanical system by ideal holonomic constraint",
pages = "M1i",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4034"
}

Radulović, R., Jeremić, B.,& Obradović, A.. (2019). Realization of the brachistohronic motion of a nonholonomic variable mass mechanical system by ideal holonomic constraint. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019
Srpsko društvo za mehaniku., M1i.
https://hdl.handle.net/21.15107/rcub_machinery_4034

Radulović R, Jeremić B, Obradović A. Realization of the brachistohronic motion of a nonholonomic variable mass mechanical system by ideal holonomic constraint. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019. 2019;:M1i.
https://hdl.handle.net/21.15107/rcub_machinery_4034 .

Radulović, Radoslav, Jeremić, Bojan, Obradović, Aleksandar, "Realization of the brachistohronic motion of a nonholonomic variable mass mechanical system by ideal holonomic constraint" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019 (2019):M1i,
https://hdl.handle.net/21.15107/rcub_machinery_4034 .

TY  - CONF
AU  - Jeremić, Bojan
AU  - Radulović, Radoslav
AU  - Obradović, Aleksandar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4033
AB  - The paper considers realization of the brachistochronic motion of a mechanical system,
composed of free body and variable mass material points, by means of an ideal constraint in the
form of the centrodes. It is assumed that the system performs planar motion in an arbitrary field
of forces and that it has three degrees of freedom. In addition, the laws of the time-rate of mass
variation of the material points, as well as relative velocities of the expelled particles,
respectively, are known. Constraint reactions of the centrodes are expressed in the function of the
generalized forces. 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). The considerations are illustrated via an example, where it is examined how the change
in the initial energy of the system affects the normal reaction of the connection and thus the
coefficient of rolling friction.
PB  - Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019
T1  - Realizing brachistohronic motion of a variable mass body by centrodes
SP  - G3a
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4033
ER  - 

@conference{
author = "Jeremić, Bojan and Radulović, Radoslav and Obradović, Aleksandar",
year = "2019",
abstract = "The paper considers realization of the brachistochronic motion of a mechanical system,
composed of free body and variable mass material points, by means of an ideal constraint in the
form of the centrodes. It is assumed that the system performs planar motion in an arbitrary field
of forces and that it has three degrees of freedom. In addition, the laws of the time-rate of mass
variation of the material points, as well as relative velocities of the expelled particles,
respectively, are known. Constraint reactions of the centrodes are expressed in the function of the
generalized forces. 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). The considerations are illustrated via an example, where it is examined how the change
in the initial energy of the system affects the normal reaction of the connection and thus the
coefficient of rolling friction.",
publisher = "Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019",
title = "Realizing brachistohronic motion of a variable mass body by centrodes",
pages = "G3a",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4033"
}

Jeremić, B., Radulović, R.,& Obradović, A.. (2019). Realizing brachistohronic motion of a variable mass body by centrodes. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019
Srpsko društvo za mehaniku., G3a.
https://hdl.handle.net/21.15107/rcub_machinery_4033

Jeremić B, Radulović R, Obradović A. Realizing brachistohronic motion of a variable mass body by centrodes. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019. 2019;:G3a.
https://hdl.handle.net/21.15107/rcub_machinery_4033 .

Jeremić, Bojan, Radulović, Radoslav, Obradović, Aleksandar, "Realizing brachistohronic motion of a variable mass body by centrodes" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019 (2019):G3a,
https://hdl.handle.net/21.15107/rcub_machinery_4033 .

TY  - JOUR
AU  - Jeremić, Bojan
AU  - Radulović, Radoslav
AU  - Obradović, Aleksandar
AU  - Šalinić, Slaviša
AU  - Dražić, Milan
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3045
AB  - In this paper, the brachistochronic motion of a mechanical system composed of variable-mass particles is analysed. Workless (ideal) holonomic and linear nonholonomic constraints are imposed on the system. It is assumed that the system moves in an arbitrary field of known potential and nonpotential forces with prescribed both laws of the time-rate of mass variation of the particles and relative velocities of the expelled (or gained) masses. The first time-derivatives of quasi-velocities are taken as control variables. Using Pontryagin's maximum principle and singular optimal control theory, the problem of brachistochronic motion of the nonholonomic variable-mass mechanical system is solved as a two-point boundary value problem. In addition, a discussion about the realization of control forces is given. The results are illustrated via an example.
PB  - Sage Publications Ltd, London
T2  - Mathematics and Mechanics of Solids
T1  - Brachistochronic motion of a nonholonomic variable-mass mechanical system in general force fields
EP  - 298
IS  - 1
SP  - 281
VL  - 24
DO  - 10.1177/1081286517738307
ER  - 

@article{
author = "Jeremić, Bojan and Radulović, Radoslav and Obradović, Aleksandar and Šalinić, Slaviša and Dražić, Milan",
year = "2019",
abstract = "In this paper, the brachistochronic motion of a mechanical system composed of variable-mass particles is analysed. Workless (ideal) holonomic and linear nonholonomic constraints are imposed on the system. It is assumed that the system moves in an arbitrary field of known potential and nonpotential forces with prescribed both laws of the time-rate of mass variation of the particles and relative velocities of the expelled (or gained) masses. The first time-derivatives of quasi-velocities are taken as control variables. Using Pontryagin's maximum principle and singular optimal control theory, the problem of brachistochronic motion of the nonholonomic variable-mass mechanical system is solved as a two-point boundary value problem. In addition, a discussion about the realization of control forces is given. The results are illustrated via an example.",
publisher = "Sage Publications Ltd, London",
journal = "Mathematics and Mechanics of Solids",
title = "Brachistochronic motion of a nonholonomic variable-mass mechanical system in general force fields",
pages = "298-281",
number = "1",
volume = "24",
doi = "10.1177/1081286517738307"
}

Jeremić, B., Radulović, R., Obradović, A., Šalinić, S.,& Dražić, M.. (2019). Brachistochronic motion of a nonholonomic variable-mass mechanical system in general force fields. in Mathematics and Mechanics of Solids
Sage Publications Ltd, London., 24(1), 281-298.
https://doi.org/10.1177/1081286517738307

Jeremić B, Radulović R, Obradović A, Šalinić S, Dražić M. Brachistochronic motion of a nonholonomic variable-mass mechanical system in general force fields. in Mathematics and Mechanics of Solids. 2019;24(1):281-298.
doi:10.1177/1081286517738307 .

Jeremić, Bojan, Radulović, Radoslav, Obradović, Aleksandar, Šalinić, Slaviša, Dražić, Milan, "Brachistochronic motion of a nonholonomic variable-mass mechanical system in general force fields" in Mathematics and Mechanics of Solids, 24, no. 1 (2019):281-298,
https://doi.org/10.1177/1081286517738307 . .

TY  - JOUR
AU  - Radulović, Radoslav
AU  - Jeremić, Bojan
AU  - Šalinić, Slaviša
AU  - Obradović, Aleksandar
AU  - Dražić, Milan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2931
AB  - We consider the brachistochrone problem of the particle with a preselected interval for the normal reaction force value as well as the terminal position of the particle lying on an arbitrary planar curve. We use optimal control theory to solve the formulated brachistochrone problem. Here we treat the brachistochrone curve as a bilateral ideal constraint. We study the cases of symmetrically and unsymmetrically preselected intervals for the normal reaction force value. We show that in the case of a symmetrically preselected interval for the normal reaction force value, the brachistochrone curve is a two-segment curve, and in the case of an unsymmetrically preselected interval, it is a three-segment curve. We present a numerical procedure for the identification of the global minimum time of motion. Finally, we present several examples to illustrate the approach proposed in the paper.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - International Journal of Non-Linear Mechanics
T1  - A new approach for the determination of the global minimum time for the brachistochrone with preselected interval for the normal reaction force value
EP  - 35
SP  - 26
VL  - 101
DO  - 10.1016/j.ijnonlinmec.2018.02.001
ER  - 

@article{
author = "Radulović, Radoslav and Jeremić, Bojan and Šalinić, Slaviša and Obradović, Aleksandar and Dražić, Milan",
year = "2018",
abstract = "We consider the brachistochrone problem of the particle with a preselected interval for the normal reaction force value as well as the terminal position of the particle lying on an arbitrary planar curve. We use optimal control theory to solve the formulated brachistochrone problem. Here we treat the brachistochrone curve as a bilateral ideal constraint. We study the cases of symmetrically and unsymmetrically preselected intervals for the normal reaction force value. We show that in the case of a symmetrically preselected interval for the normal reaction force value, the brachistochrone curve is a two-segment curve, and in the case of an unsymmetrically preselected interval, it is a three-segment curve. We present a numerical procedure for the identification of the global minimum time of motion. Finally, we present several examples to illustrate the approach proposed in the paper.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "International Journal of Non-Linear Mechanics",
title = "A new approach for the determination of the global minimum time for the brachistochrone with preselected interval for the normal reaction force value",
pages = "35-26",
volume = "101",
doi = "10.1016/j.ijnonlinmec.2018.02.001"
}

Radulović, R., Jeremić, B., Šalinić, S., Obradović, A.,& Dražić, M.. (2018). A new approach for the determination of the global minimum time for the brachistochrone with preselected interval for the normal reaction force value. in International Journal of Non-Linear Mechanics
Pergamon-Elsevier Science Ltd, Oxford., 101, 26-35.
https://doi.org/10.1016/j.ijnonlinmec.2018.02.001

Radulović R, Jeremić B, Šalinić S, Obradović A, Dražić M. A new approach for the determination of the global minimum time for the brachistochrone with preselected interval for the normal reaction force value. in International Journal of Non-Linear Mechanics. 2018;101:26-35.
doi:10.1016/j.ijnonlinmec.2018.02.001 .

Radulović, Radoslav, Jeremić, Bojan, Šalinić, Slaviša, Obradović, Aleksandar, Dražić, Milan, "A new approach for the determination of the global minimum time for the brachistochrone with preselected interval for the normal reaction force value" in International Journal of Non-Linear Mechanics, 101 (2018):26-35,
https://doi.org/10.1016/j.ijnonlinmec.2018.02.001 . .

TY  - THES
AU  - Radulović, Radoslav
PY  - 2017
UR  - http://eteze.bg.ac.rs/application/showtheses?thesesId=6025
UR  - https://nardus.mpn.gov.rs/handle/123456789/9951
UR  - https://fedorabg.bg.ac.rs/fedora/get/o:18330/bdef:Content/download
UR  - http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=514857635
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/48
AB  - Predmet istraživanja ove doktorske disertacije je formiranje novih analitičkonumeričkih postupaka u cilju određivanja globalnog minimuma vremena kretanja kako materijalne tačke, tako i holonomnih i neholonomnih mehaničkih sistema konstantne i promenljive mase, sa ograničenim upravljanjima i ograničenim reakcijama veza u opštem slučaju. Posebna pažnja u disertaciji biće posvećena određivanju diferencijalnih jednačina kretanja neholonomnih mehaničkih sistema u konfiguracionom prostoru Vm , a zatim, vodeći računa o činjenici da se samo ono vreme koje je prisutno u jednačinama reonomnih veza i na onim mestima gde se javlja kao posledica zamene zavisnih koordinata pomoću tih veza, može razmatrati kao dopunska koordinata, izvedene su diferencijalne jednačine kretanja neholonomnih mehaničkih sistema u proširenom konfiguracionom prostoru Vm1 . Formulisani problemi optimizacije rešeni su u okviru teorije optimalnog upravljanja, koristeći Pontrjaginov princip maksimuma i teoriju singularnih optimalnih upravljanja. U postupku određivanja rešenja postavljenog dvotačkastog graničnog problema (TPBVP), neophodno je prethodno odrediti procenu intervala vrednosti nepoznatih graničnih faznih i spregnutih koordinata. Imajući u vidu da ne postoji teorema o jedinstvenosti i egzistenciji rešenja postavljenog TPBVP, prirodno se nameću sledeća pitanja koja će biti razmatrana u okviru ove doktorske disertacije: da li postoji rešenje postavljenog TPBVP, da li je moguće, u opštem slučaju, odrediti procenu intervala vrednosti svih nepoznatih graničnih faznih i spregnutih koordinata, kao i da li se može odrediti opšti numerički postupak za određivanje svih mogući rešenja TPBVP? Zatim, biće razmatrani različiti, već postojeći, numerički algoritmi (shooting method, Nelder Mead method, genetic algorithm, differential evolution, simulated annealing, random search, C-GRASP algorithm) u cilju iznalaženja optimalnih vrednosti parametara koji utiču na tačnost i brzinu konvergencije rešenja uz datu uporednu analizu rešenja numeričkih algoritama za globalnu optimizaciju. Takođe, urađene su i određene modifikacije postojećih, odnosno razvoj novih, u cilju dobijanja što pouzdanijeg numeričkog algoritma za globalnu optimizaciju imajući u vidu prednosti i mane već postojećih numeričkih algoritama. U dosadašnjoj literaturi i publikovanim naučnim radovima nisu razmatrana postavljena pitanja koju su od suštinskog značaja pri određivanju globalnog minimuma vremena kretanja kako materijalne tačke, tako i holonomnih i neholonomnih mehaničkih sistema. Odgovori na postavljena pitanja, dati u ovoj doktorskoj disertaciji, predstavljaju krajnji cilj istraživanja, a samim tim i naučne doprinose uspešnom realizacijom istih.
AB  - The research topic of this doctoral thesis is the establishment of new analytical-numerical procedures to determine the global minimum time for the motion of both the particle and the variable and invariable-mass holonomic and nonholonomic mechanical systems, with limited controls and limited reactions of constraints in a general case. Special attention is directed to determining differential equations of motion of nonholonomic mechanical systems in the configuration space Vm and, thereafter, taking into account the fact that only the time which is present in the rheonomic constraints and at the locations where it occurs as a consequence of the substitution of dependent coordinates by the help of these constraints, can be considered as a supplementary coordinate, differential equations of motion of nonholonomic mechanical systems in the extended configuration space Vm1 are derived. The formulated optimization problems are solved within the framework of the optimal control theory, using Pontryagin’s maximum principle and the singular optimal control theory. In the procedure of seeking a solution to a set up two-point boundary value problem (TPBVP), it is needed first to estimate the interval of values of unknown boundary phase and conjugate coordinates. Taking into account that there is not a theorem on the uniqueness and existence of the solution to a set up TPBVP, it is reasonable that some questions are imposed to be considered in this doctoral thesis: Is there a solution to TPBVP, is it possible, in a general case, to estimate the interval of values of all unknown boundary phase and conjugate coordinates, and is it possible to determine a general numerical procedure for determining all potential solutions of TPBVP? Thereafter, considerations involve different, already existing, numerical algorithms (shooting method, Nelder Mead method, genetic algorithm, differential evolution, simulated annealing, random search, CGRASP algorithm) in order to find optimum values of parameters that affect the accuracy and rate of the convergence of solution, along with given comparative analysis of the solutions to numerical algorithms for global optimization. Also, certain modifications are carried out of the existing, i.e. development of new ones, in order to obtain as reliable numerical algorithm as possible for global optimization, keeping in mind advantages and disadvantages of the existing numerical algorithms. In the current literature and published scientific papers the questions posed have not been considered and they are of fundamental importance when determining the global minimum time for the motion of both particle and holonomic and nonholonomic mechanical systems. The responses to posed questions, given in this doctoral thesis, represent the ultimate objective of the research, and thereby a scientific contribution to its successful accomplishment.
PB  - Univerzitet u Beogradu, Mašinski fakultet
T1  - Globalni minimum vremena kretanja mehaničkih sistema sa ograničenim upravljanjima i reakcijama veza
T1  - Global minimum time for the motion of mechanical systems with limited controls and constraint reactions
UR  - https://hdl.handle.net/21.15107/rcub_nardus_9951
ER  - 

@phdthesis{
author = "Radulović, Radoslav",
year = "2017",
abstract = "Predmet istraživanja ove doktorske disertacije je formiranje novih analitičkonumeričkih postupaka u cilju određivanja globalnog minimuma vremena kretanja kako materijalne tačke, tako i holonomnih i neholonomnih mehaničkih sistema konstantne i promenljive mase, sa ograničenim upravljanjima i ograničenim reakcijama veza u opštem slučaju. Posebna pažnja u disertaciji biće posvećena određivanju diferencijalnih jednačina kretanja neholonomnih mehaničkih sistema u konfiguracionom prostoru Vm , a zatim, vodeći računa o činjenici da se samo ono vreme koje je prisutno u jednačinama reonomnih veza i na onim mestima gde se javlja kao posledica zamene zavisnih koordinata pomoću tih veza, može razmatrati kao dopunska koordinata, izvedene su diferencijalne jednačine kretanja neholonomnih mehaničkih sistema u proširenom konfiguracionom prostoru Vm1 . Formulisani problemi optimizacije rešeni su u okviru teorije optimalnog upravljanja, koristeći Pontrjaginov princip maksimuma i teoriju singularnih optimalnih upravljanja. U postupku određivanja rešenja postavljenog dvotačkastog graničnog problema (TPBVP), neophodno je prethodno odrediti procenu intervala vrednosti nepoznatih graničnih faznih i spregnutih koordinata. Imajući u vidu da ne postoji teorema o jedinstvenosti i egzistenciji rešenja postavljenog TPBVP, prirodno se nameću sledeća pitanja koja će biti razmatrana u okviru ove doktorske disertacije: da li postoji rešenje postavljenog TPBVP, da li je moguće, u opštem slučaju, odrediti procenu intervala vrednosti svih nepoznatih graničnih faznih i spregnutih koordinata, kao i da li se može odrediti opšti numerički postupak za određivanje svih mogući rešenja TPBVP? Zatim, biće razmatrani različiti, već postojeći, numerički algoritmi (shooting method, Nelder Mead method, genetic algorithm, differential evolution, simulated annealing, random search, C-GRASP algorithm) u cilju iznalaženja optimalnih vrednosti parametara koji utiču na tačnost i brzinu konvergencije rešenja uz datu uporednu analizu rešenja numeričkih algoritama za globalnu optimizaciju. Takođe, urađene su i određene modifikacije postojećih, odnosno razvoj novih, u cilju dobijanja što pouzdanijeg numeričkog algoritma za globalnu optimizaciju imajući u vidu prednosti i mane već postojećih numeričkih algoritama. U dosadašnjoj literaturi i publikovanim naučnim radovima nisu razmatrana postavljena pitanja koju su od suštinskog značaja pri određivanju globalnog minimuma vremena kretanja kako materijalne tačke, tako i holonomnih i neholonomnih mehaničkih sistema. Odgovori na postavljena pitanja, dati u ovoj doktorskoj disertaciji, predstavljaju krajnji cilj istraživanja, a samim tim i naučne doprinose uspešnom realizacijom istih., The research topic of this doctoral thesis is the establishment of new analytical-numerical procedures to determine the global minimum time for the motion of both the particle and the variable and invariable-mass holonomic and nonholonomic mechanical systems, with limited controls and limited reactions of constraints in a general case. Special attention is directed to determining differential equations of motion of nonholonomic mechanical systems in the configuration space Vm and, thereafter, taking into account the fact that only the time which is present in the rheonomic constraints and at the locations where it occurs as a consequence of the substitution of dependent coordinates by the help of these constraints, can be considered as a supplementary coordinate, differential equations of motion of nonholonomic mechanical systems in the extended configuration space Vm1 are derived. The formulated optimization problems are solved within the framework of the optimal control theory, using Pontryagin’s maximum principle and the singular optimal control theory. In the procedure of seeking a solution to a set up two-point boundary value problem (TPBVP), it is needed first to estimate the interval of values of unknown boundary phase and conjugate coordinates. Taking into account that there is not a theorem on the uniqueness and existence of the solution to a set up TPBVP, it is reasonable that some questions are imposed to be considered in this doctoral thesis: Is there a solution to TPBVP, is it possible, in a general case, to estimate the interval of values of all unknown boundary phase and conjugate coordinates, and is it possible to determine a general numerical procedure for determining all potential solutions of TPBVP? Thereafter, considerations involve different, already existing, numerical algorithms (shooting method, Nelder Mead method, genetic algorithm, differential evolution, simulated annealing, random search, CGRASP algorithm) in order to find optimum values of parameters that affect the accuracy and rate of the convergence of solution, along with given comparative analysis of the solutions to numerical algorithms for global optimization. Also, certain modifications are carried out of the existing, i.e. development of new ones, in order to obtain as reliable numerical algorithm as possible for global optimization, keeping in mind advantages and disadvantages of the existing numerical algorithms. In the current literature and published scientific papers the questions posed have not been considered and they are of fundamental importance when determining the global minimum time for the motion of both particle and holonomic and nonholonomic mechanical systems. The responses to posed questions, given in this doctoral thesis, represent the ultimate objective of the research, and thereby a scientific contribution to its successful accomplishment.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
title = "Globalni minimum vremena kretanja mehaničkih sistema sa ograničenim upravljanjima i reakcijama veza, Global minimum time for the motion of mechanical systems with limited controls and constraint reactions",
url = "https://hdl.handle.net/21.15107/rcub_nardus_9951"
}

Radulović, R.. (2017). Globalni minimum vremena kretanja mehaničkih sistema sa ograničenim upravljanjima i reakcijama veza. 
Univerzitet u Beogradu, Mašinski fakultet..
https://hdl.handle.net/21.15107/rcub_nardus_9951

Radulović R. Globalni minimum vremena kretanja mehaničkih sistema sa ograničenim upravljanjima i reakcijama veza. 2017;.
https://hdl.handle.net/21.15107/rcub_nardus_9951 .

Radulović, Radoslav, "Globalni minimum vremena kretanja mehaničkih sistema sa ograničenim upravljanjima i reakcijama veza" (2017),
https://hdl.handle.net/21.15107/rcub_nardus_9951 .

TY  - JOUR
AU  - Radulović, Radoslav
AU  - Obradović, Aleksandar
AU  - Šalinić, Slaviša
AU  - Mitrović, Zoran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4362
AB  - The paper considers the brachistochronic motion of a wheeled vehicle on a horizontal plane surface. The objective is to transfer the vehicle from the specified initial position with given initial kinetic energy to the specified terminal position in minimum time with conserved total mechanical energy of the vehicle. The problem is solved by applying Pontryagin's maximum principle and singular optimal control theory. The projection of the reaction force of the horizontal plane applied on the front vehicle wheels onto the axis of the front vehicle axle is taken for a control variable. The cases of unbounded and bounded value of this projection are considered. The shooting method is used to solve the two-point boundary value problem arising from Pontryagin's maximum principle and singular optimal control theory.
PB  - Springer, Dordrecht
T2  - Nonlinear Dynamics
T1  - The brachistochronic motion of a wheeled vehicle
EP  - 205
IS  - 1
SP  - 191
VL  - 87
DO  - 10.1007/s11071-016-3035-3
ER  - 

@article{
author = "Radulović, Radoslav and Obradović, Aleksandar and Šalinić, Slaviša and Mitrović, Zoran",
year = "2017",
abstract = "The paper considers the brachistochronic motion of a wheeled vehicle on a horizontal plane surface. The objective is to transfer the vehicle from the specified initial position with given initial kinetic energy to the specified terminal position in minimum time with conserved total mechanical energy of the vehicle. The problem is solved by applying Pontryagin's maximum principle and singular optimal control theory. The projection of the reaction force of the horizontal plane applied on the front vehicle wheels onto the axis of the front vehicle axle is taken for a control variable. The cases of unbounded and bounded value of this projection are considered. The shooting method is used to solve the two-point boundary value problem arising from Pontryagin's maximum principle and singular optimal control theory.",
publisher = "Springer, Dordrecht",
journal = "Nonlinear Dynamics",
title = "The brachistochronic motion of a wheeled vehicle",
pages = "205-191",
number = "1",
volume = "87",
doi = "10.1007/s11071-016-3035-3"
}

Radulović, R., Obradović, A., Šalinić, S.,& Mitrović, Z.. (2017). The brachistochronic motion of a wheeled vehicle. in Nonlinear Dynamics
Springer, Dordrecht., 87(1), 191-205.
https://doi.org/10.1007/s11071-016-3035-3

Radulović R, Obradović A, Šalinić S, Mitrović Z. The brachistochronic motion of a wheeled vehicle. in Nonlinear Dynamics. 2017;87(1):191-205.
doi:10.1007/s11071-016-3035-3 .

Radulović, Radoslav, Obradović, Aleksandar, Šalinić, Slaviša, Mitrović, Zoran, "The brachistochronic motion of a wheeled vehicle" in Nonlinear Dynamics, 87, no. 1 (2017):191-205,
https://doi.org/10.1007/s11071-016-3035-3 . .

TY  - JOUR
AU  - Radulović, Radoslav
AU  - Obradović, Aleksandar
AU  - Šalinić, Slaviša
AU  - Mitrović, Zoran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2554
AB  - The paper considers the brachistochronic motion of a wheeled vehicle on a horizontal plane surface. The objective is to transfer the vehicle from the specified initial position with given initial kinetic energy to the specified terminal position in minimum time with conserved total mechanical energy of the vehicle. The problem is solved by applying Pontryagin's maximum principle and singular optimal control theory. The projection of the reaction force of the horizontal plane applied on the front vehicle wheels onto the axis of the front vehicle axle is taken for a control variable. The cases of unbounded and bounded value of this projection are considered. The shooting method is used to solve the two-point boundary value problem arising from Pontryagin's maximum principle and singular optimal control theory.
PB  - Springer, Dordrecht
T2  - Nonlinear Dynamics
T1  - The brachistochronic motion of a wheeled vehicle
EP  - 205
IS  - 1
SP  - 191
VL  - 87
DO  - 10.1007/s11071-016-3035-3
ER  - 

@article{
author = "Radulović, Radoslav and Obradović, Aleksandar and Šalinić, Slaviša and Mitrović, Zoran",
year = "2017",
abstract = "The paper considers the brachistochronic motion of a wheeled vehicle on a horizontal plane surface. The objective is to transfer the vehicle from the specified initial position with given initial kinetic energy to the specified terminal position in minimum time with conserved total mechanical energy of the vehicle. The problem is solved by applying Pontryagin's maximum principle and singular optimal control theory. The projection of the reaction force of the horizontal plane applied on the front vehicle wheels onto the axis of the front vehicle axle is taken for a control variable. The cases of unbounded and bounded value of this projection are considered. The shooting method is used to solve the two-point boundary value problem arising from Pontryagin's maximum principle and singular optimal control theory.",
publisher = "Springer, Dordrecht",
journal = "Nonlinear Dynamics",
title = "The brachistochronic motion of a wheeled vehicle",
pages = "205-191",
number = "1",
volume = "87",
doi = "10.1007/s11071-016-3035-3"
}

Radulović, R., Obradović, A., Šalinić, S.,& Mitrović, Z.. (2017). The brachistochronic motion of a wheeled vehicle. in Nonlinear Dynamics
Springer, Dordrecht., 87(1), 191-205.
https://doi.org/10.1007/s11071-016-3035-3

Radulović R, Obradović A, Šalinić S, Mitrović Z. The brachistochronic motion of a wheeled vehicle. in Nonlinear Dynamics. 2017;87(1):191-205.
doi:10.1007/s11071-016-3035-3 .

Radulović, Radoslav, Obradović, Aleksandar, Šalinić, Slaviša, Mitrović, Zoran, "The brachistochronic motion of a wheeled vehicle" in Nonlinear Dynamics, 87, no. 1 (2017):191-205,
https://doi.org/10.1007/s11071-016-3035-3 . .

TY  - CONF
AU  - Radulović, Radoslav
AU  - Jeremić, Bojan
AU  - Obradović, Aleksandar
AU  - Stokić, Zoran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4054
AB  - The problem of the brachistochronic motion of a particle in space is considered. Particle
М moves in the field of known potential forces. The brachistochrone problem is formulated as an
optimal control task, where the particle velocity projections are taken as control variables. The
problem considered is reduced to solving the corresponding two-point boundary–value problem
(TPBVP).The appropriate numerical procedure to apply in determining the solutions to the
TPBVP is based on the shooting method. The paper presents the procedure for estimating the
interval of initial values of the conjugate vector coordinates. Based on given estimation, it may be
claimed that all solutions to the corresponding TPBVP are certainly located within given
intervals, and thereby the global minimum time too for the brachistochronic motion of a particle.
In the case of multiple solutions of the principle of maximum, the global minimum is the solution
corresponding to the minimum time.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - Proceeding of 6th International Congress of Serbian Society of Mechanics Mountain Tara, Serbia, June 19-21, 2017
T1  - Global minimum time for the brachistohronic motion of a particle in an arbitrary field of potential forces
SP  - G2d
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4054
ER  - 

@conference{
author = "Radulović, Radoslav and Jeremić, Bojan and Obradović, Aleksandar and Stokić, Zoran",
year = "2017",
abstract = "The problem of the brachistochronic motion of a particle in space is considered. Particle
М moves in the field of known potential forces. The brachistochrone problem is formulated as an
optimal control task, where the particle velocity projections are taken as control variables. The
problem considered is reduced to solving the corresponding two-point boundary–value problem
(TPBVP).The appropriate numerical procedure to apply in determining the solutions to the
TPBVP is based on the shooting method. The paper presents the procedure for estimating the
interval of initial values of the conjugate vector coordinates. Based on given estimation, it may be
claimed that all solutions to the corresponding TPBVP are certainly located within given
intervals, and thereby the global minimum time too for the brachistochronic motion of a particle.
In the case of multiple solutions of the principle of maximum, the global minimum is the solution
corresponding to the minimum time.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "Proceeding of 6th International Congress of Serbian Society of Mechanics Mountain Tara, Serbia, June 19-21, 2017",
title = "Global minimum time for the brachistohronic motion of a particle in an arbitrary field of potential forces",
pages = "G2d",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4054"
}

Radulović, R., Jeremić, B., Obradović, A.,& Stokić, Z.. (2017). Global minimum time for the brachistohronic motion of a particle in an arbitrary field of potential forces. in Proceeding of 6th International Congress of Serbian Society of Mechanics Mountain Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., G2d.
https://hdl.handle.net/21.15107/rcub_machinery_4054

Radulović R, Jeremić B, Obradović A, Stokić Z. Global minimum time for the brachistohronic motion of a particle in an arbitrary field of potential forces. in Proceeding of 6th International Congress of Serbian Society of Mechanics Mountain Tara, Serbia, June 19-21, 2017. 2017;:G2d.
https://hdl.handle.net/21.15107/rcub_machinery_4054 .

Radulović, Radoslav, Jeremić, Bojan, Obradović, Aleksandar, Stokić, Zoran, "Global minimum time for the brachistohronic motion of a particle in an arbitrary field of potential forces" in Proceeding of 6th International Congress of Serbian Society of Mechanics Mountain Tara, Serbia, June 19-21, 2017 (2017):G2d,
https://hdl.handle.net/21.15107/rcub_machinery_4054 .

TY  - JOUR
AU  - Radulović, Radoslav
AU  - Šalinić, Slaviša
AU  - Obradović, Aleksandar
AU  - Rusov, Srđan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4324
AB  - A new approach for the determination of the global minimum time for the case of the brachistochronic motion of the Chaplygin sleigh is presented. The new approach is based on the use of the shooting method in solving the corresponding two-point boundary-value problem and defining either the crossing points of surfaces or the crossing points space of curves in a three-dimensional space of two costate variables and the time of the brachistochronic motion of the sleigh. A number of examples for multiple extremals of the Chaplygin sleigh brachistochrone problem are provided. In these examples, the global minimum is the solution to which the minimum time of motion corresponds.
PB  - Sage Publications Ltd, London
T2  - Mathematics and Mechanics of Solids
T1  - A new approach for the determination of the global minimum time for the Chaplygin sleigh brachistochrone problem
EP  - 1482
IS  - 6
SP  - 1462
VL  - 22
DO  - 10.1177/1081286516637234
ER  - 

@article{
author = "Radulović, Radoslav and Šalinić, Slaviša and Obradović, Aleksandar and Rusov, Srđan",
year = "2017",
abstract = "A new approach for the determination of the global minimum time for the case of the brachistochronic motion of the Chaplygin sleigh is presented. The new approach is based on the use of the shooting method in solving the corresponding two-point boundary-value problem and defining either the crossing points of surfaces or the crossing points space of curves in a three-dimensional space of two costate variables and the time of the brachistochronic motion of the sleigh. A number of examples for multiple extremals of the Chaplygin sleigh brachistochrone problem are provided. In these examples, the global minimum is the solution to which the minimum time of motion corresponds.",
publisher = "Sage Publications Ltd, London",
journal = "Mathematics and Mechanics of Solids",
title = "A new approach for the determination of the global minimum time for the Chaplygin sleigh brachistochrone problem",
pages = "1482-1462",
number = "6",
volume = "22",
doi = "10.1177/1081286516637234"
}

Radulović, R., Šalinić, S., Obradović, A.,& Rusov, S.. (2017). A new approach for the determination of the global minimum time for the Chaplygin sleigh brachistochrone problem. in Mathematics and Mechanics of Solids
Sage Publications Ltd, London., 22(6), 1462-1482.
https://doi.org/10.1177/1081286516637234

Radulović R, Šalinić S, Obradović A, Rusov S. A new approach for the determination of the global minimum time for the Chaplygin sleigh brachistochrone problem. in Mathematics and Mechanics of Solids. 2017;22(6):1462-1482.
doi:10.1177/1081286516637234 .

Radulović, Radoslav, Šalinić, Slaviša, Obradović, Aleksandar, Rusov, Srđan, "A new approach for the determination of the global minimum time for the Chaplygin sleigh brachistochrone problem" in Mathematics and Mechanics of Solids, 22, no. 6 (2017):1462-1482,
https://doi.org/10.1177/1081286516637234 . .

TY  - JOUR
AU  - Radulović, Radoslav
AU  - Obradović, Aleksandar
AU  - Šalinić, Slaviša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4328
AB  - The problem of the brachistochronic motion of a holonomic scleronomic mechanical system is analyzed. The system moves in an arbitrary field of known potential forces. The problem is formulated as an optimal control task, where generalized speeds are taken as control variables. The problem considered is reduced to solving the corresponding two-point boundary-value problem (TPBVP). In order to determine the global minimal solution of the TPBVP, an appropriate numerical procedure based on the shooting method is presented. The global minimal solution represents the solution with the minimum time of motion. The procedure is illustrated by an example of determining the brachistochronic motion of a disk that performs plane motion in a vertical plane in a homogeneous field of gravity.
PB  - Springer, Dordrecht
T2  - Meccanica
T1  - Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system
EP  - 805
IS  - 4-5
SP  - 795
VL  - 52
DO  - 10.1007/s11012-016-0425-z
ER  - 

@article{
author = "Radulović, Radoslav and Obradović, Aleksandar and Šalinić, Slaviša",
year = "2017",
abstract = "The problem of the brachistochronic motion of a holonomic scleronomic mechanical system is analyzed. The system moves in an arbitrary field of known potential forces. The problem is formulated as an optimal control task, where generalized speeds are taken as control variables. The problem considered is reduced to solving the corresponding two-point boundary-value problem (TPBVP). In order to determine the global minimal solution of the TPBVP, an appropriate numerical procedure based on the shooting method is presented. The global minimal solution represents the solution with the minimum time of motion. The procedure is illustrated by an example of determining the brachistochronic motion of a disk that performs plane motion in a vertical plane in a homogeneous field of gravity.",
publisher = "Springer, Dordrecht",
journal = "Meccanica",
title = "Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system",
pages = "805-795",
number = "4-5",
volume = "52",
doi = "10.1007/s11012-016-0425-z"
}

Radulović, R., Obradović, A.,& Šalinić, S.. (2017). Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system. in Meccanica
Springer, Dordrecht., 52(4-5), 795-805.
https://doi.org/10.1007/s11012-016-0425-z

Radulović R, Obradović A, Šalinić S. Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system. in Meccanica. 2017;52(4-5):795-805.
doi:10.1007/s11012-016-0425-z .

Radulović, Radoslav, Obradović, Aleksandar, Šalinić, Slaviša, "Contribution to the determination of the global minimum time for the brachistochronic motion of a holonomic mechanical system" in Meccanica, 52, no. 4-5 (2017):795-805,
https://doi.org/10.1007/s11012-016-0425-z . .