{"title":"Amplitude Control of Systems’ Oscillations with Friction","authors":"Yu. F. Golubev","doi":"10.1134/s1064230724700060","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>A method of searching for the optimal control of the amplitude of one-dimensional oscillations in the vicinity of the equilibrium position is generalized to the case of a scleronomic multidimensional mechanical system with friction. The oscillatory degree of freedom of the system does not lend itself to direct control. Its movement is influenced by other, directly controlled degrees of freedom, whose coordinates are selected as control functions. The number of control functions can include both positional and cyclic coordinates. The method does not use conjugate variables in the sense of L.S. Pontryagin’s maximum principle and does not increase the dimension of the original system of differential equations of motion. The effectiveness of the proposed method is demonstrated using examples of specific oscillatory mechanical models about a pendulum with a support sliding along a cycloid with dry and viscous friction, as well as a six-legged robot from an emergency supine position.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.5000,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computer and Systems Sciences International","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1134/s1064230724700060","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 0
Abstract
A method of searching for the optimal control of the amplitude of one-dimensional oscillations in the vicinity of the equilibrium position is generalized to the case of a scleronomic multidimensional mechanical system with friction. The oscillatory degree of freedom of the system does not lend itself to direct control. Its movement is influenced by other, directly controlled degrees of freedom, whose coordinates are selected as control functions. The number of control functions can include both positional and cyclic coordinates. The method does not use conjugate variables in the sense of L.S. Pontryagin’s maximum principle and does not increase the dimension of the original system of differential equations of motion. The effectiveness of the proposed method is demonstrated using examples of specific oscillatory mechanical models about a pendulum with a support sliding along a cycloid with dry and viscous friction, as well as a six-legged robot from an emergency supine position.
期刊介绍：
Journal of Computer and System Sciences International is a journal published in collaboration with the Russian Academy of Sciences. It covers all areas of control theory and systems. The journal features papers on the theory and methods of control, as well as papers devoted to the study, design, modeling, development, and application of new control systems. The journal publishes papers that reflect contemporary research and development in the field of control. Particular attention is given to applications of computer methods and technologies to control theory and control engineering. The journal publishes proceedings of international scientific conferences in the form of collections of regular journal articles and reviews by top experts on topical problems of modern studies in control theory.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
