A Simple Trolley-like Model in the Presence of a Nonlinear Friction and a Bounded Fuel Expenditure

نویسندگان

  • Andrei Dmitruk
  • Ivan Samylovskiy
  • A. Dmitruk
  • I. Samylovskiy
چکیده

We consider a problem of maximization of the distance traveled by a material point in the presence of a nonlinear friction under a bounded thrust and fuel expenditure. Using the maximum principle we obtain the form of optimal control and establish conditions under which it contains a singular subarc. This problem seems to be the simplest one having a mechanical sense in which singular subarcs appear in a nontrivial way.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Friction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique

Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...

متن کامل

Nonlinear Dynamic Modeling and Hysteresis Analysis of Aerospace Hydro - dynamical Control Valves

A new procedure for deriving nonlinear mathematical modeling for a specific class of aerospace hydro - mechanical control valves is presented. The effects of friction on the dynamic behavior of these types of valves along with the experimental verifictions are also given. The modeling approach is based on the combination of the following three tasks: decomposition of the valve into simple speci...

متن کامل

Elimination of Hard-Nonlinearities Destructive Effects in Control Systems Using Approximate Techniques

Many of the physical phenomena, like friction, backlash, drag, and etc., which appear in mechanical systems are inherently nonlinear and have destructive effects on the control systems behavior. Generally, they are modeled by hard nonlinearities. In this paper, two different methods are proposed to cope with the effects of hard nonlinearities which exist in friction various models. Simple inver...

متن کامل

Dynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

متن کامل

Solving Path Following Problem for Car-Like Robot in the Presence of Sliding Effect via LMI Formulation

One of the main problems of car-like robot is robust path following in the presence of sliding effect. To tackle this problem, a robust mix H2/H∞ static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. In this paper, the path following problem is formulated as linear matri...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2013