Solving Nonholonomic Systems with the Tau Method

• Tipo: Artigo em Revista Científica Internacional
• Data: 2019

Autores

Gavina, A (Autor) Outra; Matos, JMA (Autor) Outra; vasconcelos, pb (Autor) FEP

Revista

Título: Mathematical and Computational Applications

Vol. 24

Página Final: 91

ISSN: 1300-686X

Editora: Celal Bayar Universitesi

Indexação

ISI Web of Knowledge - 2 Citações

Outras Informações

ID Authenticus: P-00R-6K4

DOI: 10.3390/mca24040091

Abstract (EN): A numerical procedure based on the spectral Tau method to solve nonholonomic systems is provided. Nonholonomic systems are characterized as systems with constraints imposed on the motion. The dynamics is described by a system of differential equations involving control functions and several problems that arise from nonholonomic systems can be formulated as optimal control problems. Applying the Pontryagins maximum principle, the necessary optimality conditions along with the transversality condition, a boundary value problem is obtained. Finally, a numerical approach to tackle the boundary value problem is required. Here we propose the Lanczos spectral Tau method to obtain an approximate solution of these problems exploiting the Tau toolbox software library, which allows for ease of use as well as accurate results.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10