Estimating the Domain of Admissible Parameters of a Control System of a Vibratory Robot
- 作者: Golitsyna M.1, Samsonov V.1
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隶属关系:
- Moscow State University
- 期: 卷 57, 编号 2 (2018)
- 页面: 255-272
- 栏目: Control Systems of Moving Objects
- URL: https://journals.rcsi.science/1064-2307/article/view/220087
- DOI: https://doi.org/10.1134/S1064230718020089
- ID: 220087
如何引用文章
详细
We consider the rectilinear motion of a vibratory robot on a plane; the robot is presented by a rigid body and a pendulum inside it. The motion is carried out in the gravity field; the force of dry friction acts between the body and the plane. The robot is controlled by choosing the angular acceleration of the pendulum. Two modes of the robot’s control that correspond to various constraints on the choice of the control are investigated. Each of the studied control laws ensures a periodic displacement of the robot; here, the robot moves only in one direction (the motion is irreversible). We discuss the problem of finding the boundaries of the dry friction parameter and the control parameter; we find the boundaries with which the proposed control modes are feasible.
作者简介
M. Golitsyna
Moscow State University
编辑信件的主要联系方式.
Email: Kulikovskaya-Mary@yandex.ru
俄罗斯联邦, Moscow, 119991
V. Samsonov
Moscow State University
Email: Kulikovskaya-Mary@yandex.ru
俄罗斯联邦, Moscow, 119991
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