Control of slider travel over a rough plane by means of a pendulum

A mechanical system, which consists of a case with a flat foundation and a pendulum hanged on it, is considered. A motor providing the controlled rotation of the pendulum is fastened on the case. The reaction at the point of suspension appears, which leads to the motion of the case over a horizontal support. The presence of dry friction in contact with the support makes it possible to move the case with a nonzero average velocity. The case of a constant moment applied to a pendulum and small friction coefficient is considered in the article. It is shown that any specified average velocity of travel of the case can be provided due to the appropriate selection of the control moment.