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.
- Optimal trajectory planning
- Workless steering actuators
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering