Motion Control of a Spinning Disc on Rotating Earth
Fangxu Jing, Eva Kanso, Paul K. Newton
TL;DR
This paper develops a control framework for a spinning disc on rotating Earth, deriving equations of motion via Lagrangian mechanics and applying optimal control for trajectory planning.
Contribution
It introduces a novel application of discrete mechanics and optimal control to the motion planning of a spinning disc on a rotating sphere.
Findings
Derived equations of motion using Lagrangian mechanics.
Applied discrete mechanics and optimal control for trajectory planning.
Provided a systematic approach for controlling spinning objects on rotating bodies.
Abstract
This paper considers the motion control of a particle and a spinning disc on rotating earth. The equations of motion are derived using Lagrangian mechanics. Trajectory planning is studied as an optimization problem using the method referred to as Discrete Mechanics and Optimal Control.
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Taxonomy
TopicsQuantum chaos and dynamical systems · Control and Dynamics of Mobile Robots · Dynamics and Control of Mechanical Systems