Optimal control of the thrusted skate

Kevin M. Lynch*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


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 languageEnglish (US)
Pages (from-to)173-176
Number of pages4
Issue number1
StatePublished - Jan 2003


  • Optimal trajectory planning
  • Workless steering actuators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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