### Realizing brachistochronic planar motion of a variable mass nonholonomic mechanical system by an ideal holonomic constraint with restricted reaction

#### Abstract

The paper considers realization of the brachistochronic motion of a nonholonomic mechanical system, composed of variable mass particles, by means of an ideal holonomic constraint with restricted reaction. It is assumed that the systemperforms planar motion in an arbitrary field of forces and that it has two degrees of freedom. In addition, the laws of the time-rate of mass variation of the particles, as well as relative velocities of the expelled and gained particles, respectively, are known. Restricted reaction of the holonomic constraint is taken for the scalar control. Applying Pontryagin’s maximum principle and singular optimal control theory, the problemof brachistochronic motion is solved as a two-point boundary value problem(TPBVP). Since the reaction of the constraint is restricted, different types of control structures are examined, from singular to totally nonsingular. The considerations are illustrated via an example.

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