Dynamic Analysis and Optimization of a Three-phase Control Mode of a Mobile System with an Internal Mass

Abstract

The dynamical system consisting of a rigid body and an internal mass is investigated in this paper. The rigid body can move along a rough horizontal plane with a piece-wise linear resistance law due to the special periodic internal motions. A three-phase control is constructed and the motion of the body relative to the environment is controlled by varying the relative acceleration of the internal mass. The relationships between the control parameters for the realization of a directed velocity-periodic motion of the rigid body are established through both theoretical and numerical methods. Optimal and practical parameters of the internal motion, at which the maximal mean velocity of the body is reached, are determined.