Impulsive control of a symmetric ball rolling without sliding or spinning

Autores
Cendra, Hernan; Etchechoury, María del Rosario; Ferraro, Sebastián José
Año de publicación
2010
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A ball having two of its three moments of inertia equal and whose center of mass coincides with its geometric center is called a symmetric ball. The free dynamics of a symmetric ball rolling without sliding or spinning on a horizontal plate has been studied in detail in a previous work by two of the authors, where it was shown that the equations of motion are equivalent to an ODE on the 3-manifold S^2 x S^1. In this paper we present an approach to the impulsive control of the position and orientation of the ball and study the speed of convergence of the algorithm. As an example we apply this approach to the solutions of the isoparallel problem.
Fil: Cendra, Hernan. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; Argentina
Fil: Etchechoury, María del Rosario. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial y Control; Argentina. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Departamento de Matemáticas; Argentina
Fil: Ferraro, Sebastián José. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto de Matemática Bahía Blanca. Universidad Nacional del Sur. Departamento de Matemática. Instituto de Matemática Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; Argentina
Materia
NONHOLONOMIC SYSTEMS
CONTROL
GEOMETRIC MECHANICS
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/240979
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Impulsive control of a symmetric ball rolling without sliding or spinningCendra, HernanEtchechoury, María del RosarioFerraro, Sebastián JoséNONHOLONOMIC SYSTEMSCONTROLGEOMETRIC MECHANICShttps://purl.org/becyt/ford/1.1https://purl.org/becyt/ford/1A ball having two of its three moments of inertia equal and whose center of mass coincides with its geometric center is called a symmetric ball. The free dynamics of a symmetric ball rolling without sliding or spinning on a horizontal plate has been studied in detail in a previous work by two of the authors, where it was shown that the equations of motion are equivalent to an ODE on the 3-manifold S^2 x S^1. In this paper we present an approach to the impulsive control of the position and orientation of the ball and study the speed of convergence of the algorithm. As an example we apply this approach to the solutions of the isoparallel problem.Fil: Cendra, Hernan. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; ArgentinaFil: Etchechoury, María del Rosario. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial y Control; Argentina. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Departamento de Matemáticas; ArgentinaFil: Ferraro, Sebastián José. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto de Matemática Bahía Blanca. Universidad Nacional del Sur. Departamento de Matemática. Instituto de Matemática Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; ArgentinaAmerican Institute of Mathematical Sciences2010-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/240979Cendra, Hernan; Etchechoury, María del Rosario; Ferraro, Sebastián José; Impulsive control of a symmetric ball rolling without sliding or spinning; American Institute of Mathematical Sciences; Journal of Geometric Mechanics; 2; 4; 12-2010; 321-3421941-48891941-4897CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.aimsciences.org/article/doi/10.3934/jgm.2010.2.321info:eu-repo/semantics/altIdentifier/doi/10.3934/jgm.2010.2.321info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:21:18Zoai:ri.conicet.gov.ar:11336/240979instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:21:19.068CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Impulsive control of a symmetric ball rolling without sliding or spinning
title Impulsive control of a symmetric ball rolling without sliding or spinning
spellingShingle Impulsive control of a symmetric ball rolling without sliding or spinning
Cendra, Hernan
NONHOLONOMIC SYSTEMS
CONTROL
GEOMETRIC MECHANICS
title_short Impulsive control of a symmetric ball rolling without sliding or spinning
title_full Impulsive control of a symmetric ball rolling without sliding or spinning
title_fullStr Impulsive control of a symmetric ball rolling without sliding or spinning
title_full_unstemmed Impulsive control of a symmetric ball rolling without sliding or spinning
title_sort Impulsive control of a symmetric ball rolling without sliding or spinning
dc.creator.none.fl_str_mv Cendra, Hernan
Etchechoury, María del Rosario
Ferraro, Sebastián José
author Cendra, Hernan
author_facet Cendra, Hernan
Etchechoury, María del Rosario
Ferraro, Sebastián José
author_role author
author2 Etchechoury, María del Rosario
Ferraro, Sebastián José
author2_role author
author
dc.subject.none.fl_str_mv NONHOLONOMIC SYSTEMS
CONTROL
GEOMETRIC MECHANICS
topic NONHOLONOMIC SYSTEMS
CONTROL
GEOMETRIC MECHANICS
purl_subject.fl_str_mv https://purl.org/becyt/ford/1.1
https://purl.org/becyt/ford/1
dc.description.none.fl_txt_mv A ball having two of its three moments of inertia equal and whose center of mass coincides with its geometric center is called a symmetric ball. The free dynamics of a symmetric ball rolling without sliding or spinning on a horizontal plate has been studied in detail in a previous work by two of the authors, where it was shown that the equations of motion are equivalent to an ODE on the 3-manifold S^2 x S^1. In this paper we present an approach to the impulsive control of the position and orientation of the ball and study the speed of convergence of the algorithm. As an example we apply this approach to the solutions of the isoparallel problem.
Fil: Cendra, Hernan. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; Argentina
Fil: Etchechoury, María del Rosario. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial y Control; Argentina. Universidad Nacional de La Plata. Facultad de Ciencias Exactas. Departamento de Matemáticas; Argentina
Fil: Ferraro, Sebastián José. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto de Matemática Bahía Blanca. Universidad Nacional del Sur. Departamento de Matemática. Instituto de Matemática Bahía Blanca; Argentina. Universidad Nacional del Sur. Departamento de Matemática; Argentina
description A ball having two of its three moments of inertia equal and whose center of mass coincides with its geometric center is called a symmetric ball. The free dynamics of a symmetric ball rolling without sliding or spinning on a horizontal plate has been studied in detail in a previous work by two of the authors, where it was shown that the equations of motion are equivalent to an ODE on the 3-manifold S^2 x S^1. In this paper we present an approach to the impulsive control of the position and orientation of the ball and study the speed of convergence of the algorithm. As an example we apply this approach to the solutions of the isoparallel problem.
publishDate 2010
dc.date.none.fl_str_mv 2010-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/240979
Cendra, Hernan; Etchechoury, María del Rosario; Ferraro, Sebastián José; Impulsive control of a symmetric ball rolling without sliding or spinning; American Institute of Mathematical Sciences; Journal of Geometric Mechanics; 2; 4; 12-2010; 321-342
1941-4889
1941-4897
CONICET Digital
CONICET
url http://hdl.handle.net/11336/240979
identifier_str_mv Cendra, Hernan; Etchechoury, María del Rosario; Ferraro, Sebastián José; Impulsive control of a symmetric ball rolling without sliding or spinning; American Institute of Mathematical Sciences; Journal of Geometric Mechanics; 2; 4; 12-2010; 321-342
1941-4889
1941-4897
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.aimsciences.org/article/doi/10.3934/jgm.2010.2.321
info:eu-repo/semantics/altIdentifier/doi/10.3934/jgm.2010.2.321
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv American Institute of Mathematical Sciences
publisher.none.fl_str_mv American Institute of Mathematical Sciences
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 12.48226

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