Dynamics, simulation and control of a wheeled robotic glider

Lidia V. Glazkova^a, Vladimir E. Pavlovsky^b, Alexey V. Panchenko<sup>a

a</sup> Lomonosov Moscow State University, Leninskie Gory 1, Moscow, 119991, Russia
^b Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Miusskaya sq. 4, Moscow, 125047, Russia

Abstract: We consider the optimal control of a wheeled glider. Equations of motion for the glider have been written out in a compact form, the problem of bringing the glider into a given point within a minimal time has been solved for several typical initial positions of the glider. The realization of the control system of the glider model is discussed.

Keywords: wheeled yacht, robotic glider, dynamics of a robotic glider, optimal control, equations of motion in a compact form.

UDC: 531.37

MSC: 70E18; 70F40

Received: 09.07.2012
Revised: 29.09.2012