Estimating the Domain of Admissible Parameters of a Control System of a Vibratory Robot

摘要

We consider the rectilinear motion of a vibratory robot on a plane; the robot is presented by a rigid body and a pendulum inside it. The motion is carried out in the gravity field; the force of dry friction acts between the body and the plane. The robot is controlled by choosing the angular acceleration of the pendulum. Two modes of the robot’s control that correspond to various constraints on the choice of the control are investigated. Each of the studied control laws ensures a periodic displacement of the robot; here, the robot moves only in one direction (the motion is irreversible). We discuss the problem of finding the boundaries of the dry friction parameter and the control parameter; we find the boundaries with which the proposed control modes are feasible.