Controllability of a two-body crawling system on an inclined planeстатья
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Дата последнего поиска статьи во внешних источниках: 26 января 2024 г.
Аннотация:A simple two-body model of a limbless craw\-ler moving on an inclined rough plane is considered. The bodies are regarded as point masses. The system is controlled by the force of interaction of the bodies. Coulomb's friction force acts between the underlying plane and each of the bodies. The controllability of the crawler is investigated. It is proved that if no constraints are imposed on the control force, then the system can be driven from any initial state of rest on the plane into an arbitrarily small neighborhood of any prescribed terminal state of rest, provided that at the initial time instant the bodies do not lie on the common line of maximum slope. A control strategy that alternates infinitely slow (quasistatic) and infinitely fast motions is defined. It is important that the plane is inclined; on the horizontal plane, the two-body crawler is uncontrollable.