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  • 1
    Electronic Resource
    Electronic Resource
    Closed-Loop Control of the Motion of a Sphere Rolling on a Moving Horizontal Plane (1997)
    Springer
    Journal of optimization theory and applications 92 (1997), S. 377-391 
    Details
    ISSN: 1573-2878
    Keywords: Rolling sphere ; nonholonomic constraints ; path controllability ; closed-loop control
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract A uniform sphere is rolling without slipping on a horizontal plane. The motion of the sphere is controlled via the control of the acceleration of the plane. At the time t=0, the sphere and the plane are stationary and the center of the sphere is located at a point A in the plane. Given a time interval [0, t f], the problem dealt with here is: Find a closed-loop strategy for the acceleration of the moving plane such that, at the time t=t f, the plane and the sphere will be nearly at rest and the center of the sphere will be in a given neighborhood of the origin. By introducing the concept of path controllability, a closed-loop strategy for the solution of the above-mentioned problem is proposed and its efficiency is demonstrated by solving numerically some examples.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022663331512
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Feasible Command Strategies for the Control of Motion of a Simple Mobile Robot (1997)
    Springer
    Journal of optimization theory and applications 94 (1997), S. 519-520 
    Details
    ISSN: 1573-2878
    Keywords: Feasible command strategies ; rolling disk ; controlled pivoted slender rod ; nonholonomic constraints ; path controllability
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract An error in the model of the disk-rod system of Ref. 1 is corrected.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022604300425
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    Paper (German National Licenses)
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  • 3
    Electronic Resource
    Electronic Resource
    Closed-Loop Control of the Motion of a Disk–Rod System (1998)
    Springer
    Journal of optimization theory and applications 96 (1998), S. 453-473 
    Details
    ISSN: 1573-2878
    Keywords: Path controllability ; rolling disk ; controlled pivoted slender rod ; nonholonomic constraints
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract This work deals with the guidance and control of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its center of mass, about the disk center. There are given N points P i, i=1, ..., N, in the horizontal plane, a set of angles ψ2i , i=1, ..., N, a finite-time interval [0, t f], and a sequence of times τ1=0〈τ2〈...〈τ N =t f. Using the concept of path controllability, a closed-loop control law is derived to steer the system in such a manner that the disk center and the rod angle of rotation ψ2 will pass through (P i, ψ2i ) at the times τ i , i=1,...,N, respectively. This system serves as a model for the motion of a simple mobile robot.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022630400851
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    Paper (German National Licenses)
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  • 4
    Electronic Resource
    Electronic Resource
    Collision Avoidance by a Ship with a Moving Obstacle: Computation of Feasible Command Strategies (1998)
    Springer
    Journal of optimization theory and applications 98 (1998), S. 243-244 
    Details
    ISSN: 1573-2878
    Keywords: Collision avoidance ; ship maneuvering ; feasible command strategies
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract Typographical errors on page 57 of Ref. 1 are corrected.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022653317941
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    Paper (German National Licenses)
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  • 5
    Electronic Resource
    Electronic Resource
    Parametric study of ship maneuverability in laterally restricted waters: Stochastic control approach (1995)
    Springer
    Journal of optimization theory and applications 85 (1995), S. 59-74 
    Details
    ISSN: 1573-2878
    Keywords: Ship maneuverability ; restricted waterways ; stochastic optimal control
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract A stochastic control approach is used in a parametric study of ship maneuverability in a restricted channel of prescribed geometry. A realistic method, based on some empirical data, is used for the mathematical modelling of the ship motion in deep water.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF02192299
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    Paper (German National Licenses)
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  • 6
    Electronic Resource
    Electronic Resource
    Feasible command strategies for the control of motion of a simple mobile robot (1996)
    Springer
    Journal of optimization theory and applications 90 (1996), S. 671-692 
    Details
    ISSN: 1573-2878
    Keywords: Feasible command strategies ; rolling disk ; controlled pivoted slender rod ; nonholonomic constraints ; path controllability
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract The concept of feasible command strategies is introduced and its applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. The motion of the disk-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. In addition, the concept of path controllability is introduced and a condition is derived for the system motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system motion.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF02189801
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    Paper (German National Licenses)
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  • 7
    Electronic Resource
    Electronic Resource
    Collision Avoidance by a Ship with a Moving Obstacle: Computation of Feasible Command Strategies (1997)
    Springer
    Journal of optimization theory and applications 93 (1997), S. 53-66 
    Details
    ISSN: 1573-2878
    Keywords: Collision avoidance ; ship maneuvering ; feasible command strategies
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract A ship moving from a point A to a point B detects a moving small obstacle at close range. Hence, the ship has to perform a maneuver to avoid collision with the moving obstacle. Using a realistic model of a tanker ship, a method is proposed for computing feasible rudder command strategies for performing the collision-avoidance maneuver.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1022693600078
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    Paper (German National Licenses)
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