Motion control of a rigid body in viscous fluid
We consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Russian |
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Institute of Computer Science
2013-08-01
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| Series: | Компьютерные исследования и моделирование |
| Subjects: | |
| Online Access: | http://crm.ics.org.ru/uploads/crmissues/crm_2013_4/13414.pdf |
| _version_ | 1811221283502817280 |
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| author | Eugene Vladimirovich Vetchanin Valentin Alexseevitch Tenenev Alexander S. Shaura |
| author_facet | Eugene Vladimirovich Vetchanin Valentin Alexseevitch Tenenev Alexander S. Shaura |
| author_sort | Eugene Vladimirovich Vetchanin |
| collection | DOAJ |
| description | We consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an internal material point. The optimal motion control is based on the Sugeno fuzzy inference system. An approach based on constructing decision trees using the genetic algorithm for structural and parametric synthesis has been proposed to obtain the base of fuzzy rules. |
| first_indexed | 2024-04-12T07:56:41Z |
| format | Article |
| id | doaj.art-984d385a406d4402b917df76581287ce |
| institution | Directory Open Access Journal |
| issn | 2076-7633 2077-6853 |
| language | Russian |
| last_indexed | 2024-04-12T07:56:41Z |
| publishDate | 2013-08-01 |
| publisher | Institute of Computer Science |
| record_format | Article |
| series | Компьютерные исследования и моделирование |
| spelling | doaj.art-984d385a406d4402b917df76581287ce2022-12-22T03:41:27ZrusInstitute of Computer ScienceКомпьютерные исследования и моделирование2076-76332077-68532013-08-015465967510.20537/2076-7633-2013-5-4-659-6752074Motion control of a rigid body in viscous fluidEugene Vladimirovich VetchaninValentin Alexseevitch TenenevAlexander S. ShauraWe consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an internal material point. The optimal motion control is based on the Sugeno fuzzy inference system. An approach based on constructing decision trees using the genetic algorithm for structural and parametric synthesis has been proposed to obtain the base of fuzzy rules.http://crm.ics.org.ru/uploads/crmissues/crm_2013_4/13414.pdfoptimal motion controlself-locomotiongenetic algorithmstructural-parametrical synthesisdecision treefuzzy logic |
| spellingShingle | Eugene Vladimirovich Vetchanin Valentin Alexseevitch Tenenev Alexander S. Shaura Motion control of a rigid body in viscous fluid Компьютерные исследования и моделирование optimal motion control self-locomotion genetic algorithm structural-parametrical synthesis decision tree fuzzy logic |
| title | Motion control of a rigid body in viscous fluid |
| title_full | Motion control of a rigid body in viscous fluid |
| title_fullStr | Motion control of a rigid body in viscous fluid |
| title_full_unstemmed | Motion control of a rigid body in viscous fluid |
| title_short | Motion control of a rigid body in viscous fluid |
| title_sort | motion control of a rigid body in viscous fluid |
| topic | optimal motion control self-locomotion genetic algorithm structural-parametrical synthesis decision tree fuzzy logic |
| url | http://crm.ics.org.ru/uploads/crmissues/crm_2013_4/13414.pdf |
| work_keys_str_mv | AT eugenevladimirovichvetchanin motioncontrolofarigidbodyinviscousfluid AT valentinalexseevitchtenenev motioncontrolofarigidbodyinviscousfluid AT alexandersshaura motioncontrolofarigidbodyinviscousfluid |