The brachistochronic motion of a wheeled vehicle
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.
Keywords:
Wheeled vehicle / Optimal control / Nonholonomic system / Brachistochronic motionSource:
Nonlinear Dynamics, 2017, 87, 1, 191-205Publisher:
- Springer, Dordrecht
Funding / projects:
- Dynamics of hybrid systems with complex structures. Mechanics of materials. (RS-MESTD-Basic Research (BR or ON)-174001)
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
Note:
- Peer reviewed version of the article: https://machinery.mas.bg.ac.rs/handle/123456789/4362
Related info:
DOI: 10.1007/s11071-016-3035-3
ISSN: 0924-090X
WoS: 000391465500016
Scopus: 2-s2.0-84983728290
Collections
Institution/Community
Mašinski fakultetTY - 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 . .