Abstract
We study the problem of optimal control of a Chaplygin ball on a plane by means of 3 internal rotors. Using Pontryagin maximum principle, the equations of extremals are reduced to Hamiltonian equations in group variables. For a spherically symmetric ball, the solutions can be expressed in by elliptic functions.
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Bolotin, S. The problem of optimal control of a Chaplygin ball by internal rotors. Regul. Chaot. Dyn. 17, 559–570 (2012). https://doi.org/10.1134/S156035471206007X
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DOI: https://doi.org/10.1134/S156035471206007X