RUS  ENG JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PACKAGE AMSBIB
General information
Latest issue
Archive
Impact factor

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS



Regul. Chaotic Dyn.:
Year:
Volume:
Issue:
Page:
Find






Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register


Regul. Chaotic Dyn., 2018, Volume 23, Issue 7-8, Pages 803–820 (Mi rcd368)  

Comparing Dynamics Initiated by an Attached Oscillating Particle for the Nonholonomic Model of a Chaplygin Sleigh and for a Model with Strong Transverse and Weak Longitudinal Viscous Friction Applied at a Fixed Point on the Body

Alexey V. Borisovab, Sergey P. Kuznetsovbc

a Moscow Institute of Physics and Technology, Institutskii per. 9, Dolgoprudnyi, 141700 Russia
b Udmurt State University, ul. Universitetskaya 1, Izhevsk, 426034 Russia
c Kotelínikovís Institute of Radio-Engineering and Electronics of RAS, Saratov Branch, ul. Zelenaya 38, Saratov, 410019 Russia

Abstract: This paper addresses the problem of a rigid body moving on a plane (a platform) whose motion is initiated by oscillations of a point mass relative to the body in the presence of the viscous friction force applied at a fixed point of the platform and having in one direction a small (or even zero) value and a large value in the transverse direction. This problem is analogous to that of a Chaplygin sleigh when the nonholonomic constraint prohibiting motions of the fixed point on the platform across the direction prescribed on it is replaced by viscous friction. We present numerical results which confirm correspondence between the phenomenology of complex dynamics of the model with a nonholonomic constraint and a system with viscous friction ó phase portraits of attractors, bifurcation diagram, and Lyapunov exponents. In particular, we show the possibility of the platformís motion being accelerated by oscillations of the internal mass, although, in contrast to the nonholonomic model, the effect of acceleration tends to saturation. We also show the possibility of chaotic dynamics related to strange attractors of equations for generalized velocities, which is accompanied by a two-dimensional random walk of the platform in a laboratory reference system. The results obtained may be of interest to applications in the context of the problem of developing robotic mechanisms for motion in a fluid under the action of the motions of internal masses.

Keywords: Chaplygin sleigh, friction, parametric oscillator, strange attractor, Lyapunov exponents, chaotic dynamics, fish-like robot

Funding Agency Grant Number
Russian Foundation for Basic Research 18-08-00999-a
18-29-10051-mk
Russian Science Foundation 15-12-20035
The work of A.V. Borisov (Introduction and formulation of the equations of motion (Section 1)) was supported by the RFBR under grants No. 18-08-00999-a and 18-29-10051-mk. Numerical simulation and analysis of the results obtained (Sections 2Ė6) were carried out by A.V. Borisov and S.P. Kuznetsov within the framework of the RSF grant No. 15-12-20035.


DOI: https://doi.org/10.1134/S1560354718070018

References: PDF file   HTML file

Bibliographic databases:

MSC: 37C10, 34D45, 37E30, 34C60, 37J60
Received: 30.10.2018
Accepted:28.11.2018
Language:

Citation: Alexey V. Borisov, Sergey P. Kuznetsov, “Comparing Dynamics Initiated by an Attached Oscillating Particle for the Nonholonomic Model of a Chaplygin Sleigh and for a Model with Strong Transverse and Weak Longitudinal Viscous Friction Applied at a Fixed Point on the Body”, Regul. Chaotic Dyn., 23:7-8 (2018), 803–820

Citation in format AMSBIB
\Bibitem{BorKuz18}
\by Alexey V. Borisov, Sergey P. Kuznetsov
\paper Comparing Dynamics Initiated by an Attached Oscillating Particle for the Nonholonomic Model of a Chaplygin Sleigh and for a Model with Strong Transverse and Weak Longitudinal Viscous Friction Applied at a Fixed Point on the Body
\jour Regul. Chaotic Dyn.
\yr 2018
\vol 23
\issue 7-8
\pages 803--820
\mathnet{http://mi.mathnet.ru/rcd368}
\crossref{https://doi.org/10.1134/S1560354718070018}
\isi{http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&DestLinkType=FullRecord&DestApp=ALL_WOS&KeyUT=000458183900001}
\scopus{http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85061226885}


Linking options:
  • http://mi.mathnet.ru/eng/rcd368
  • http://mi.mathnet.ru/eng/rcd/v23/i7/p803

    SHARE: VKontakte.ru FaceBook Twitter Mail.ru Livejournal Memori.ru


    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles
  • Number of views:
    This page:40
    References:9

     
    Contact us:
     Terms of Use  Registration  Logotypes © Steklov Mathematical Institute RAS, 2019