Optimal control of a two-body limbless crawler along a rough horizontal straight line

Autor:	Nikolay Bolotnik, Tatiana Yu. Figurina
Rok vydání:	2020
Předmět:	Rest (physics) Physics Plane (geometry) Dry friction Applied Mathematics Mechanical Engineering Aerospace Engineering Motion (geometry) Ocean Engineering Geometry Crawling Optimal control Terminal (electronics) Control and Systems Engineering Coulomb Electrical and Electronic Engineering
Zdroj:	Nonlinear Dynamics. 102:1627-1642
ISSN:	1573-269X 0924-090X
DOI:	10.1007/s11071-020-05999-4
Popis:	An optimal control problem is solved for a two-body limbless locomotor crawling along a straight line on a horizontal rough plane. Coulomb’s dry friction acts between the locomotor’s bodies and the underlying plane. The control is performed by the force of interaction between the bodies. The system should be moved from the state of rest by a given distance in a minimal time, provided that the relative positions of the bodies in the initial and terminal states coincide and the velocities of the bodies at the terminal instant are equal to zero. A particular attention is given to the case where the bodies are prohibited to change the direction of their motion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8dc4d749f9d99b723084f64723635a1a https://doi.org/10.1007/s11071-020-05999-4 Zobrazit plný text záznamu Full text from SpringerLink