Optimal Rotation of a Solid Body by a Moving Mass in the Presence of Phase Constraints

Journal of Computer and Systems Sciences International - The two-dimensional problem of the fastest rotation of a rigid body by the movement of a material point in the absence of the influence of...     

Optimal Ellipsoidal Estimation of Dynamic Systems Subject to Uncertain Disturbances

The guaranteed (worst-case) approach is proposed to the estimation of phase states of dynamical systems subjected to uncertain perturbations under different optimality criteria.     

Optimal two-dimensional motions of a body controlled by a moving internal mass

Multibody System Dynamics - Two-dimensional motions of a rigid body carrying a point mass are considered. The point mass can move relative to the body with a bounded relative velocity and thus...     

Optimal Control of Rotation of a Rigid Body by a Movable Internal Mass

Journal of Computer and Systems Sciences International - The two-dimensional problem on the fastest turn of a rigid body by moving an internal mass is considered. It is assumed that the rigid body...     

Asymptotic methods in the theory of optimal control

The paper gives a survey of some works devoted to methods of the small parameter for the solution of optimal control problems. It is well known that these problems are difficult both for analytical and numerical approaches. Exact analytical solutions exist only for specific classes of optimal control problems. A numerical solution is possible for optimal program (open-loop) controls, but it becomes very difficult for obtaining synthesis if the order of the system is high. Therefore, approximate methods based on the small parameter techniques seem to be useful. By means of these methods, one can find approximate optimal control (both program and synthesis) for a number of optimal control problems which arise in applications. The paper presents some approaches and results in this direction obtained in the Computing Center and the Institute for Problems of Mechanics of the USSR Academy of Sciences in the past 10-15 years.     

Simulation and Optimization of Regular Motions of a Tube-Crawling Robot

The paper is devoted to issues associated with thetube-crawling robot designed at the Munich Technical University. Wefocus on the simulation of the robot dynamics and the optimization ofstructural parameters of the machine and characteristics of its gait.The mathematical model of the eight-legged tube-crawling robotperforming regular motions at a constant speed along a cylindrical tubeis described. On the basis of this model we investigate the influence ofthe machine design and gait parameters on the robot velocity and findtheir optimal values providing the maximal velocity under givenparametric and drive constraints. Numerical examples are presented anddiscussed.