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.

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Last Updated: Fri Mar 15 07:55:56 2024