Optimal control of vibrationally excited locomotion systems
Optimal control of vibrationally excited locomotion systems
复制标题
振动激励运动系统的优化控制
DOI：
10.1134/s1560354713010061
复制
发表时间：
2013
影响因子：
1.4
通讯作者：
T. Figurina
中科院分区：
文献类型：
--
作者：
F. Chernousko;N. Bolotnik;T. Figurina
针对两类由于部件间的相对振荡而推进的移动的系统，构造了最优控制。第一种类型的系统是由一个刚体（主体），其中两个链接连接旋转关节。所有三个物体都与环境相互作用，其作用力取决于这些物体相对于环境的运动速度。该系统由连杆相对于主体的高频周期性角振荡控制。另一种类型的系统由两个主体组成，其中一个主体（主体）与环境相互作用，另一个主体（内部主体）与主体相互作用，但不与环境相互作用。该系统由内部主体相对于主体的周期性振荡控制。对于这两个系统，都考虑了主体沿沿着水平直线运动的情况。最优控制律，最大限度地提高平均速度的主体。
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.