Title: Optimal control for a simplified hovercraft model (9 pages)
Detail: SIAM Conference on Control and its Applications, San Diego, CA, 2001/07/11

A simplified model for a hovercraft is a planar rigid body with a variable-direction thruster acting on a point distinct from the centre of mass of the body. The problems of time-optimal and force-optimal control for this system are initiated. In particular, (1) sub-optimal control using decoupling vector fields (an idea of a preprint of Bullo and Lynch) is investigated, and (2) a complete classification of the singular extremals for the system is made.

No online version avaliable.

Andrew D. Lewis (andrew at mast.queensu.ca)