Motion control of a rigid body in viscous fluid

Vetchanin E.V., Tenenev V.A., Shaura A.S.
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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.

Keywords: optimal motion control, self-locomotion, genetic algorithm, structural-parametrical synthesis, decision tree, fuzzy logic
Citation in English: Vetchanin E.V., Tenenev V.A., Shaura A.S. Motion control of a rigid body in viscous fluid // Computer Research and Modeling, 2013, vol. 5, no. 4, pp. 659-675
Citation in English: Vetchanin E.V., Tenenev V.A., Shaura A.S. Motion control of a rigid body in viscous fluid // Computer Research and Modeling, 2013, vol. 5, no. 4, pp. 659-675
DOI: 10.20537/2076-7633-2013-5-4-659-675
URL: http://crm-en.ics.org.ru/journal/article/2074/
Creative Commons License This work is licensed under a Creative Commons Attribution-NoDerivs 3.0 Unported License.
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