dc.creator | Jeremić, Bojan | |
dc.creator | Radulović, Radoslav | |
dc.creator | Obradović, Aleksandar | |
dc.date.accessioned | 2023-01-25T14:18:18Z | |
dc.date.available | 2023-01-25T14:18:18Z | |
dc.date.issued | 2015 | |
dc.identifier.isbn | 978-86-7892-715-7 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4055 | |
dc.description.abstract | The paper considers the brachistochronic motion of a variable mass nonholonomic
mechanical system [4] in a horizontal plane, between two specified positions. Variable mass
particles are interconnected by a lightweight mechanism of the ’pitchfork’ type. The law of the
time-rate of mass variation of the particles, as well as relative velocities of the expelled particles,
as a function of time, are known. Differential equations of motion, where the reactions of
nonholonomic constraints and control forces figure, are created based on the general theorems of
dynamics of a variable mass mechanical system [6]. The formulated brachistochrone problem,
with adequately chosen quantities of state, is solved, in this case, as the simplest task of optimal
control by applying Pontryagin’s maximum principle [1]. A corresponding two-point boundary
value problem (TPBVP) of the system of ordinary nonlinear differential equations is obtained,
which, in a general case, has to be numerically solved [2]. Numerical procedure for solving the
TPBVP is performed by the shooting method. On the basis of thus obtained brachistochronic
motion, the active control forces, along with the reactions of nonholonomic constraints, are
determined. The analysis of the brachistochronic motion for different values of the initial position
of a variable mass particle B is presented. | sr |
dc.language.iso | en | sr |
dc.publisher | Srpsko društvo za mehaniku | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Basic Research (BR or ON)/174001/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/share-your-work/public-domain/cc0/ | |
dc.source | Proceeding of 5th International Congress of Serbian Society of Mechanics Arandjelovac, Serbia, June 15-17, 2015 | sr |
dc.subject | Brachistochrone | sr |
dc.subject | variable mass | sr |
dc.subject | nonholonomic system | sr |
dc.subject | Pontryagin’s maximum principle, | sr |
dc.subject | optimal control | sr |
dc.title | Brachistohronic motion of a variable mass nonholonomic mechanical system | sr |
dc.type | conferenceObject | sr |
dc.rights.license | CC0 | sr |
dc.citation.rank | M33 | |
dc.citation.spage | G3e | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/9426/bitstream_9426.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4055 | |
dc.type.version | publishedVersion | sr |