 | | Journal of Applied
Mathematics and Mechanics
Russian Academy of Sciences | | Founded
in January 1936
(Translated from 1958)
Issued 6 times a year
ISSN 0021-8928
(print version) |
Archive of Issues
| Total articles in the database: | | 10512 |
| In Russian (ÏÌÌ): | | 9713
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| In English (J. Appl. Math. Mech.): | | 799 |
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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 robot–a 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 |
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