Abstract
Progressive locomotion of a two-link system in a fluid is considered. The system consists of two rigid bodies, the main body and the tail, connected by a cylindrical joint. The actuator installed at the joint controls the angle between the axes of the body and the tail. The progressive motion of the system is caused by high-frequency angular oscillations of the tail relative to the main body. The fluid acts upon each body with the resistance force proportional to the squared velocity of the body. It is shown that, under certain assumptions, the system can move progressively, if the tail performs the retrieval phase of its oscillations faster than the deflection phase. This result correlates well with the observations of swimming. The optimal periodic motion of the tail is obtained that corresponds to the maximal, under certain constraints, average velocity of the system.
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© 2011 Springer Dordrecht Heidelberg London New York
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Chernousko, F.L. (2011). Optimal Control of a Two-Link System Moving in a Fluid. In: Stépán, G., Kovács, L.L., Tóth, A. (eds) IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. IUTAM Bookseries, vol 30. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1643-8_6
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DOI: https://doi.org/10.1007/978-94-007-1643-8_6
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-1642-1
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