Geodesic
The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip
Theoretical and applied mechanics, Tome 44 (2017) no. 2.

Voir la notice de l'article provenant de la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

This paper deals with the brachistochronic motion of a thin uniform disk rolling on a horizontal plane without slip. The problem is formulated and solved within the frame of the optimal control theory. The brachistochronic motion of the disk is controlled by three torques. The possibility of the realization of the brachistochronic motion found in presence of Coulomb dry friction forces is inspected. Also, the influence of values of the coefficient of dry friction on the structure of the extremal trajectory is analyzed. Two illustrative numerical examples are provided.
Mots-clés : brachistochronic motion, nonholonomic constraints, Coulomb dry friction, optimal control, rolling without slip 
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     author = {Aleksandar Obradovi\'c and Slavi\v{s}a \v{S}alini\'c and Radoslav Radulovi\'c},
     title = {The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip},
     journal = {Theoretical and applied mechanics},
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Aleksandar Obradović; Slaviša Šalinić; Radoslav Radulović. The brachistochronic motion of a vertical disk rolling on a horizontal plane without slip. Theoretical and applied mechanics, Tome 44 (2017) no. 2. https://geodesic-test.mathdoc.fr/item/TAM_2017_44_2_a9/