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Trudy Instituta Matematiki i Mekhaniki UrO RAN, 2011, Volume 17, Number 2, Pages 240–255 (Mi timm710)  
This article is cited in 9 scientific papers (total in 9 papers)

Optimal motion of a multilink system in a resistive medium

F. L. Chernous'ko

A. Ishlinsky Institite for Problems in Mechanics, Russian Academy of Sciences
Full-text PDF (220 kB) Citations (9)
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Abstract: We consider the motion in a resistive medium of a mechanical system consisting of a main body and one or two links attached to it by means of cylindrical joints. The motion is controlled through high-frequency periodic oscillations of the links. For this system, an equation of motion is deduced and the average velocity is estimated under certain assumptions. This velocity is positive if the angular velocity of diverting the attached links is less than the angular velocity of bringing them to the axis of the body. An optimal control problem of maximizing the average velocity is formulated and solved. An example is given.
Keywords: optimal control, mechanical system, multilink system, method of averaging, mobile robots, biomechanics.
Received: 15.11.2010
English version:
Proceedings of the Steklov Institute of Mathematics (Supplementary issues), 2012, Volume 276, Issue 1, Pages S63–S79
DOI: https://doi.org/10.1134/S0081543812020058
Bibliographic databases:
Document Type: Article
UDC: 517.977+531.391
Language: Russian
Citation: F. L. Chernous'ko, “Optimal motion of a multilink system in a resistive medium”, Trudy Inst. Mat. i Mekh. UrO RAN, 17, no. 2, 2011, 240–255; Proc. Steklov Inst. Math. (Suppl.), 276, suppl. 1 (2012), S63–S79
Citation in format AMSBIB
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\paper Optimal motion of a~multilink system in a~resistive medium
\serial Trudy Inst. Mat. i Mekh. UrO RAN
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\issue 2
\pages 240--255
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\jour Proc. Steklov Inst. Math. (Suppl.)
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\pages S63--S79
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    • This publication is cited in the following 9 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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