dc.creator | Obradović, Aleksandar | |
dc.creator | Radulović, Radoslav | |
dc.date.accessioned | 2023-01-24T12:08:31Z | |
dc.date.available | 2023-01-24T12:08:31Z | |
dc.date.issued | 2014 | |
dc.identifier.isbn | 978-80-8075-655-0 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4037 | |
dc.description.abstract | This paper presents a procedure for determining the global minimum
time in the brachistochronic motion of Chaplygin sleigh [3,4] between two specified
positions, with unchanged value of mechanical energy during motion. For this
case, the problem is formulated as the simplest problem of optimal control theory
that is solved by applying Pontryagin’s Maximum Principle [1]. The corresponding
two-point boundary value problem of the system of ordinary nonlinear differential
equations is obtained that is necessary, in a general case, to solve numerically
[2]. The numerical procedure is based on the shooting method, with the
requirement for the assessment of the intervals in which the missing initial
conditions can be found. The assessment is provided of the intervals of initial
values of the conjugate variables, so that the TPBVP solution does not exist for
sure outside those intervals. Graphic representation is given for corresponding
surfaces in 3D space of the missing initial conditions, of which each surface
corresponds to satisfying the missing conditions. A number of examples are
provided for multiple solutions of the Maximum Principle, of which the global
minimum is the one corresponding to the minimum time. | sr |
dc.language.iso | en | sr |
dc.publisher | Institute of Structronics | sr |
dc.publisher | Institute Mihailo Pupin | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Basic Research (BR or ON)/174001/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/share-your-work/public-domain/cc0/ | |
dc.source | Proceeding of 11th International Symposium on Stability, Vibration, and Control of Machines and Structures, Belgrade, Srbija, 3. - 5. Jul, 2014 | sr |
dc.subject | global minimum time | sr |
dc.subject | Chaplygin sleigh | sr |
dc.subject | Brachistochrone | sr |
dc.subject | Pontryagin’s maximum principle | sr |
dc.title | On the global minimum time in the brachistochronic motion of Chaplygin sleigh | sr |
dc.type | conferenceObject | sr |
dc.rights.license | CC0 | sr |
dc.citation.epage | 223 | |
dc.citation.rank | M33 | |
dc.citation.spage | 212 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9379/bitstream_9379.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4037 | |
dc.type.version | publishedVersion | sr |