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Optimal Control of Multibody Systems in Resistive Media

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Large-Scale Scientific Computing (LSSC 2011)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 7116))

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Abstract

Locomotion of a mechanical system consisting of a main body and one or two links attached to it by cylindrical joints is considered. The system moves in a resistive medium and is controlled by periodic angular oscillations of the links relative to the main body. The resistance force acting upon each body is a quadratic function of its velocity. Under certain assumptions, a nonlinear equation of motion is derived and simplified. The optimal control of oscillations is found that corresponds to the maximal average locomotion speed.

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Author information

Authors and Affiliations

  1. Institute for Problems in Mechanics, Russian Academy of Sciences, Moscow, Russia

    F. L. Chernousko

Authors
  1. F. L. Chernousko
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Editors and Affiliations

  1. Institute of Information and Communication Technologies, Bulgarian Academy of Sciences, Acad. G. Bonchev, Block 25A, 1113, Sofia, Bulgaria

    Ivan Lirkov  & Svetozar Margenov  & 

  2. Department of Informatics and Mathematical Modelling, Technical University of Denmark, Richard Petersens Plads, Building 321,, 2800, Kongens Lyngby, Denmark

    Jerzy Waśniewski

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© 2012 Springer-Verlag Berlin Heidelberg

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Chernousko, F.L. (2012). Optimal Control of Multibody Systems in Resistive Media. In: Lirkov, I., Margenov, S., Waśniewski, J. (eds) Large-Scale Scientific Computing. LSSC 2011. Lecture Notes in Computer Science, vol 7116. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29843-1_10

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  • DOI: https://doi.org/10.1007/978-3-642-29843-1_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-29842-4

  • Online ISBN: 978-3-642-29843-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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