Abstract:
A model governing the motion of an aquatic robot with a shell in the form of a symmetrical airfoil NACA0040 is considered. The motion is controlled by periodic oscillations of the rotor. It is numerically shown that for physically admissible values of the control parameters in the phase space of the system, there exists only one limit cycle. The limit cycle that occurs under symmetric control corresponds to the motion of the robot near a straight line. In the case of asymmetric controls, the robot moves near a circle. An algorithm for controlling the course of the robot motion is proposed. This algorithm uses determined limit cycles and transient processes between them.
Keywords:
motion in a fluid, aquatic robot, control algorithm, limit cycles.
The work of Vetchanin E.V. (Introduction, Conslusion and Section 3) was performed at the Ural Mathematical Center (Agreement No. 075-02-2022-889). Work of Mamaev I.S. (Sections 1 and 2) carried out within the framework of the state assignment of the Ministry of Education and Science of Russia (Grant No. FZZN-2020-0011).
Citation:
E. V. Vetchanin, I. S. Mamaev, “Numerical analysis of the periodic controls of an aquatic robot”, Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki, 32:4 (2022), 644–660
\Bibitem{VetMam22}
\by E.~V.~Vetchanin, I.~S.~Mamaev
\paper Numerical analysis of the periodic controls of an aquatic robot
\jour Vestn. Udmurtsk. Univ. Mat. Mekh. Komp. Nauki
\yr 2022
\vol 32
\issue 4
\pages 644--660
\mathnet{http://mi.mathnet.ru/vuu831}
\crossref{https://doi.org/10.35634/vm220410}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=4534876}
Linking options:
https://www.mathnet.ru/eng/vuu831
https://www.mathnet.ru/eng/vuu/v32/i4/p644
This publication is cited in the following 2 articles:
Evgeny V. Vetchanin, Ivan S. Mamaev, “Numerical Analysis of a Drop-Shaped Aquatic Robot”, Mathematics, 12:2 (2024), 312
A. V. Klekovkin, Yu. L. Karavaev, I. S. Mamaev, “The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel”, Rus. J. Nonlin. Dyn., 19:2 (2023), 265–279
Citation in format AMSBIB
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