Authors: A.A. Agrachev, Yu. L. Sachkov
Title: 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
Citation: A. Agrachev, Yu. Sachkov, An Intrinsic Approach to the Control of Rolling Bodies , Proceedings of the 38-th IEEE Conference on Decision and Control, Phoenix, Arizona, USA, December 7--10, 1999, vol. 1, 431-435.
Conference: Proc. 38-th IEEE Confer. Decis. Control