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Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp'yuternye Nauki, 2022, Volume 32, Issue 4, Pages 644–660
DOI: https://doi.org/10.35634/vm220410
(Mi vuu831)
 

This article is cited in 2 scientific papers (total in 2 papers)

MECHANICS

Numerical analysis of the periodic controls of an aquatic robot

E. V. Vetchanina, I. S. Mamaevb

a Udmurt State University, ul. Universitetskaya, 1, 426034, Izhevsk, Russia
b Kalashnikov Izhevsk State Technical University, ul. Studencheskaya, 7, 426069, Izhevsk, Russia
References:
Abstract: A model governing the motion of an aquatic robot with a shell in the form of a symmetrical airfoil NACA0040 is considered. The motion is controlled by periodic oscillations of the rotor. It is numerically shown that for physically admissible values of the control parameters in the phase space of the system, there exists only one limit cycle. The limit cycle that occurs under symmetric control corresponds to the motion of the robot near a straight line. In the case of asymmetric controls, the robot moves near a circle. An algorithm for controlling the course of the robot motion is proposed. This algorithm uses determined limit cycles and transient processes between them.
Keywords: motion in a fluid, aquatic robot, control algorithm, limit cycles.
Funding agency Grant number
Ministry of Science and Higher Education of the Russian Federation 075-02-2022-889
FZZN-2020-0011
The work of Vetchanin E.V. (Introduction, Conslusion and Section 3) was performed at the Ural Mathematical Center (Agreement No. 075-02-2022-889). Work of Mamaev I.S. (Sections 1 and 2) carried out within the framework of the state assignment of the Ministry of Education and Science of Russia (Grant No. FZZN-2020-0011).
Received: 20.10.2022
Accepted: 12.12.2022
Bibliographic databases:
Document Type: Article
UDC: 532.3, 517.933
MSC: 70E60, 37N35
Language: Russian
Citation: E. V. Vetchanin, I. S. Mamaev, “Numerical analysis of the periodic controls of an aquatic robot”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 32:4 (2022), 644–660
Citation in format AMSBIB
\Bibitem{VetMam22}
\by E.~V.~Vetchanin, I.~S.~Mamaev
\paper Numerical analysis of the periodic controls of an aquatic robot
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2022
\vol 32
\issue 4
\pages 644--660
\mathnet{http://mi.mathnet.ru/vuu831}
\crossref{https://doi.org/10.35634/vm220410}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=4534876}
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  • https://www.mathnet.ru/eng/vuu/v32/i4/p644
  • This publication is cited in the following 2 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Вестник Удмуртского университета. Математика. Механика. Компьютерные науки
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    References:28
     
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