In this letter we consider the asymptotic behaviour and the trajectory generation problem for the Chaplygin sleigh interacting with a potential fluid. We investigate which trajectories can be obtained, at least asymptotically as t tents to infinity, by controlling some of the coordinates (shape-control variables) and using the theory of reconstruction. Moreover we support our conclusions via numerical simulations.

On the Trajectory Generation of the Hydrodynamic Chaplygin Sleigh

Sansonetto, N;
2020-01-01

Abstract

In this letter we consider the asymptotic behaviour and the trajectory generation problem for the Chaplygin sleigh interacting with a potential fluid. We investigate which trajectories can be obtained, at least asymptotically as t tents to infinity, by controlling some of the coordinates (shape-control variables) and using the theory of reconstruction. Moreover we support our conclusions via numerical simulations.
Nonholonomic systems
control applications
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1028791
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