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.; Zoppello, M.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 4:4(2020), pp. 922-927. [10.1109/LCSYS.2020.2996763]

On the Trajectory Generation of the Hydrodynamic Chaplygin Sleigh

Zoppello M.
2020

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.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11583/2865512