Optimal control of nonholonomic motion planning for a free-falling cat  

作　　者：戈新生 陈立群 

机构地区：[1]Mechanical Engineering Department,Beijing Institute of Machinery [2]Shanghai Institute of Applied Mathematics and Mechanics,Shanghai University

出　　处：《Applied Mathematics and Mechanics(English Edition)》2007年第5期601-607,共7页应用数学和力学（英文版）

基　　金：Project supported by the National Natural Science Foundation of China (No.10372014);the Natural Science Foundation of Beijing (No.1072008)

摘　　要：The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.

关 键 词：free-falling cat nonholonomic constraint motion planning optimal control 

分 类 号：O311[理学—一般力学与力学基础]