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Computer Research and Modeling, 2013, Volume 5, Issue 4, Pages 659–675
DOI: https://doi.org/10.20537/2076-7633-2013-5-4-659-675 (Mi crm426) 		 
MODELS IN PHYSICS AND TECHNOLOGY

Motion control of a rigid body in viscous fluid

E. V. Vetchanina, V. A. Tenenevb, A. S. Shaurab

a Kalashnikov Izhevsk State Technical University, 7 Studencheskaya street, Izhevsk, 426069, Russia
b Kalashnikov Izhevsk State Technical University, 7 Studencheskaya street, Izhevsk, 426069, Russia
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DOI: https://doi.org/10.20537/2076-7633-2013-5-4-659-675
Abstract: We consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an internal material point. The optimal motion control is based on the Sugeno fuzzy inference system. An approach based on constructing decision trees using the genetic algorithm for structural and parametric synthesis has been proposed to obtain the base of fuzzy rules.
Keywords: optimal motion control, self-locomotion, genetic algorithm, structural-parametrical synthesis, decision tree, fuzzy logic.
Funding agency Grant number
грант Президента РФ поддержки ведущих научных школ НШ- 2519.2012.1
Ministry of Education and Science of the Russian Federation 1.2953.2011
Received: 13.09.2013
Document Type: Article
UDC: 519.8
Language: Russian
Citation: E. V. Vetchanin, V. A. Tenenev, A. S. Shaura, “Motion control of a rigid body in viscous fluid”, Computer Research and Modeling, 5:4 (2013), 659–675
Citation in format AMSBIB
\Bibitem{VetTenSha13}
\by E.~V.~Vetchanin, V.~A.~Tenenev, A.~S.~Shaura
\paper Motion control of a rigid body in viscous fluid
\jour Computer Research and Modeling
\yr 2013
\vol 5
\issue 4
\pages 659--675
\mathnet{http://mi.mathnet.ru/crm426}
\crossref{https://doi.org/10.20537/2076-7633-2013-5-4-659-675}
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