The brachistochronic motion of a wheeled vehicle
Апстракт
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.
Кључне речи:
Wheeled vehicle / Optimal control / Nonholonomic system / Brachistochronic motionИзвор:
Nonlinear Dynamics, 2017, 87, 1, 191-205Издавач:
- Springer, Dordrecht
Финансирање / пројекти:
- Динамика хибридних система сложених структура. Механика материјала (RS-MESTD-Basic Research (BR or ON)-174001)
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
Напомена:
- This is the peer reviewed version of the article:Radulović, R.; Obradović, A.; Šalinić, S.; Mitrović, Z. The Brachistochronic Motion of a Wheeled Vehicle. Nonlinear Dynamics 2017, 87 (1), 191–205. https://doi.org/10.1007/s11071-016-3035-3
Повезане информације:
- Друга верзија
https://doi.org/10.1007/s11071-016-3035-3 - Друга верзија
https://machinery.mas.bg.ac.rs/handle/123456789/2554
DOI: 10.1007/s11071-016-3035-3
ISSN: 0924-090X
WoS: 000391465500016
Scopus: 2-s2.0-84983728290
Колекције
Институција/група
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/123456789/4362 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 . .