Control of Motion of an Actively Bending Body in Channels with Dry Friction |
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Authors: | A. I. Litvintsev |
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Affiliation: | (1) Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia |
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Abstract: | Mechanics is described and equations are given of the motion of an actively bending homogeneous body of a finite thickness in a channel with dry friction under conditions of a weak bending. Control is suggested of the motion of a body in a sinusoidal channel, which retains a continuous first derivative of the controlling moment and a bounded second derivative. A process is described of the maximization of the speed of motion by control and then by the choice of the best parameters of a channel. Control is also considered of other modes of the motion of a body in the same channel. |
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