Abstract:
Optimal controls are constructed for two types of mobile systems propelling themselves due to relative oscillatory motions of their parts. The system of the first type is modelled by a rigid body (main body) to which two links are attached by revolute joints. All three bodies interact with the environment with the forces depending on the velocity of motion of these bodies relative to the environment. The system is controlled by high-frequency periodic angular oscillations of the links relative to the main body. The system of the other type consists of two bodies, one of which (the main body) interacts with the environment and with the other body (internal body), which interacts with the main body but does not interact with the environment. The system is controlled by periodic oscillations of the internal body relative to the main body. For both systems, the motions with the main body moving along a horizontal straight line are considered. Optimal control laws that maximize the average velocity of the main body are found.
Keywords:
locomotion systems, biologically inspired robots, mobile robots, optimal control.
This study was supported by the Russian Foundation for Basic Research (projects 11-01-00513 and 11-01-12110) and the Program of State Support of Leading Scientific Schools of the Russian Federation (NSh-369.2012.1).
Citation:
Felix L. Chernousko, Nikolai N. Bolotnik, Tatiana Yu. Figurina, “Optimal Control of Vibrationally Excited Locomotion Systems”, Regul. Chaotic Dyn., 18:1-2 (2013), 85–99
\Bibitem{CheBolFig13}
\by Felix L. Chernousko, Nikolai N. Bolotnik, Tatiana Yu. Figurina
\paper Optimal Control of Vibrationally Excited Locomotion Systems
\jour Regul. Chaotic Dyn.
\yr 2013
\vol 18
\issue 1-2
\pages 85--99
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\crossref{https://doi.org/10.1134/S1560354713010061}
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Linking options:
https://www.mathnet.ru/eng/rcd97
https://www.mathnet.ru/eng/rcd/v18/i1/p85
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