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IssuesArchive of Issues2008-2pp.126-135

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N.N. Bolotnik and T.Yu. Figurina, "Optimal control of the rectilinear motion of a rigid body on a rough plane by means of the motion of two internal masses," J. Appl. Math. Mech. 72 (2), 126-135 (2008)
Year 2008 Volume 72 Issue 2 Pages 126-135
Title Optimal control of the rectilinear motion of a rigid body on a rough plane by means of the motion of two internal masses
Author(s) N.N. Bolotnik (Moscow, Russia, bolotnik@ipmnet.ru)
T.Yu. Figurina (Moscow, Russia)
Abstract The problem of the optimal control of a rigid body moving along a rough horizontal plane due to motion of two internal masses is solved. One of the masses moves horizontally parallel to the line of motion of the main body, while the other mass moves in the vertical direction. Such a mechanical system models a vibration-driven robota mobile device able to move in a resistive medium without special propellers (e.g., wheels, legs or caterpillars). Periodic motions are constructed for the internal masses to ensure velocity-periodic motion of the main body with maximum average velocity, provided that the period is fixed and the magnitudes of the accelerations of the internal masses relative to the main body do not exceed prescribed limits. Based on the optimal solution obtained for a fixed period without any constraints imposed on the amplitudes of vibration of the internal masses, a suboptimal solution that takes such constraints into account is constructed.
Received 17 July 2007
Link to Fulltext http://www.sciencedirect.com/science/journal/00218928
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