论文信息 - An intrinsic approach to the control of rolling bodies

An intrinsic approach to the control of rolling bodies

We apply the principal tools of geometric control theory to an intrinsic geometric model of a pair of rolling rigid bodies. The controllability problem is solved completely: in particular, the system is globally controllable if the bodies are not isometric. We also construct a canonical nilpotent approximation of the system, describe its symmetries and express extremals of the corresponding optimal control problem via elliptic functions.

A. Agrachev | Y. Sachkov | A. A. Agrachev | Y. L. Sachkov | Steklov

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