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The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. Application of the variational Pontryagins minimum principle yields the balls controlled equations of motion, a solution of which obeys the balls uncontrolled equations of motion, satisfies prescribed initial and final conditions, and minimizes a prescribed performance index.
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector continuation
The motion of a rolling ball actuated by internal point masses that move inside the balls frame of reference is considered. The equations of motion are derived by applying Euler-Poincares symmetry reduction method in concert with Lagrange-dAlemberts
The goal of this paper is to investigate the normal and tangential forces acting at the point of contact between a horizontal surface and a rolling ball actuated by internal point masses moving in the balls frame of reference. The normal force and st
In this paper we present an extension to the case of $L^1$-controls of a famous result by Ball--Marsden--Slemrod on the obstruction to the controllability of bilinear control systems in infinite dimensional spaces.
The use of persistently exciting data has recently been popularized in the context of data-driven analysis and control. Such data have been used to assess system theoretic properties and to construct control laws, without using a system model. Persis