Optimal control of the thrusted skate

Kevin M. Lynch

doi:10.1016/S0005-1098(02)00165-6

Optimal control of the thrusted skate

Kevin M. Lynch^*

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

6 Scopus citations

Abstract

This paper derives optimal controls for the thrusted skate between any two points in the plane. The thrusted skate consists of a skate, which steers the motion in ℜ², and a fixed-orientation thruster which provides the power to move the system. This system is a simple example of a class of fully actuated mechanical systems consisting of a single power actuator and a number of workless steering actuators which guide the motion of the system.

Original language	English (US)
Pages (from-to)	173-176
Number of pages	4
Journal	Automatica
Volume	39
Issue number	1
DOIs	https://doi.org/10.1016/S0005-1098(02)00165-6
State	Published - Jan 2003

Keywords

Optimal trajectory planning
Workless steering actuators

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/S0005-1098(02)00165-6

Cite this

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abstract = "This paper derives optimal controls for the thrusted skate between any two points in the plane. The thrusted skate consists of a skate, which steers the motion in ℜ2, and a fixed-orientation thruster which provides the power to move the system. This system is a simple example of a class of fully actuated mechanical systems consisting of a single power actuator and a number of workless steering actuators which guide the motion of the system.",

keywords = "Optimal trajectory planning, Workless steering actuators",

author = "Lynch, {Kevin M.}",

note = "Funding Information: The support of NSF Grants IIS-9875469 and IIS-9811571 is gratefully acknowledged. ",

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N2 - This paper derives optimal controls for the thrusted skate between any two points in the plane. The thrusted skate consists of a skate, which steers the motion in ℜ2, and a fixed-orientation thruster which provides the power to move the system. This system is a simple example of a class of fully actuated mechanical systems consisting of a single power actuator and a number of workless steering actuators which guide the motion of the system.

AB - This paper derives optimal controls for the thrusted skate between any two points in the plane. The thrusted skate consists of a skate, which steers the motion in ℜ2, and a fixed-orientation thruster which provides the power to move the system. This system is a simple example of a class of fully actuated mechanical systems consisting of a single power actuator and a number of workless steering actuators which guide the motion of the system.

KW - Optimal trajectory planning

KW - Workless steering actuators

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Optimal control of the thrusted skate

Abstract

Keywords

ASJC Scopus subject areas

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