Abstract
Dynamical systems are considered that consist of a main rigid body and one or several movable internal bodies. The internal bodies interact with the main one by forces created and controlled by drives but do not interact with the environment. The motion of the internal bodies affects the main body, and it can move progressively under the influence of resistance forces produced by the environment. Different kinds of resistance forces are considered including Coulomb’s friction, piecewise linear and quadratic resistance. Periodic motions of the internal bodies and the corresponding translational motion of the main body are analyzed. The average speed of the system locomotion is evaluated and optimized with respect to the system parameters and control.
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Acknowledgements
The work was supported by the Russian Foundation for Basic Research (Projects 14-01-00061 and 15-51-12381).
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Chernousko, F.L. (2017). Dynamics and Control of Motion for Systems Containing Internal Moving Masses. In: Irschik, H., Belyaev, A., Krommer, M. (eds) Dynamics and Control of Advanced Structures and Machines. Springer, Cham. https://doi.org/10.1007/978-3-319-43080-5_19
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DOI: https://doi.org/10.1007/978-3-319-43080-5_19
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