Control of the Motion of a Helical Body in a Fluid Using Rotors

被引：4

作者：

Vetchanin, Evgeny V. ^{[1
]}

Kilin, Alexander A. ^{[2
]}

Mamaev, Ivan S. ^{[1
]}

机构：

[1] Izhevsk State Tech Univ, Ul Studencheskaya 7, Izhevsk 426069, Russia

[2] Udmurt State Univ, Ul Univ Skaya 1, Izhevsk 426034, Russia

来源：

REGULAR & CHAOTIC DYNAMICS | 2016年 / 21卷 / 7-8期

基金：

俄罗斯科学基金会; 俄罗斯基础研究基金会;

关键词：

ideal fluid; motion of a helical body; Kirchhoff equations; control of rotors; gaits; optimal control; RIGID-BODY; IDEAL FLUID; GEOMETRY;

D O I：

10.1134/S1560354716070108

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This paper is concerned with the motion of a helical body in an ideal fluid, which is controlled by rotating three internal rotors. It is proved that the motion of the body is always controllable by means of three rotors with noncoplanar axes of rotation. A condition whose satisfaction prevents controllability by means of two rotors is found. Control actions that allow the implementation of unbounded motion in an arbitrary direction are constructed. Conditions under which the motion of the body along an arbitrary smooth curve can be implemented by rotating the rotors are presented. For the optimal control problem, equations of sub-Riemannian geodesics on SE(3) are obtained.

引用

页码：874 / 884

页数：11

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