ИСТИНА

A limbless crawler modeled by two interacting bodies (mass points) on a rough inclined plane is considered. Coulomb's dry friction acts between the particles and the underlying plane. The issue under study is whether it is possible to bring the system from an arbitrary initial state of rest to an arbitrary terminal state of rest. This issue can be regarded as that of controllability of the system under consideration. The control is provided by the force of interaction between the particles. The controllability sufficient conditions are proved, and a control algorithm that enables the system to be driven between the prescribed states is constructed.