scholarly journals ON THE STABILITY OF PLANE MOVEMENT OF MOBILE ROBOTS

2020 ◽  
pp. 11-16
Author(s):  
E. S. Briskin ◽  
K. S. Artemyev ◽  
I. P. Vershinina ◽  
A. V. Maloletov
Keyword(s):  
Mobile Robots ◽  
Solid Body ◽  
Plane Motion ◽  
Force Action ◽  
The Stability ◽  
Pushing And Pulling

The problem of stability of the plane motion of mobile robots, including those with walking propulsion devices, is considered. Two modes of propulsion devices are compared: "pushing" and "pulling". The solution of two model problems on the plane motion of a solid body caused by kinematic and force action is presented.

The stability analysis using Lyapunov exponents for high-DOF nonlinear vehicle plane motion

2021 ◽  
pp. 095440702110433
Author(s):  
Shuming Shi ◽  
Fanyu Meng ◽  
Minghui Bai ◽  
Nan Lin
Keyword(s):  
Stability Analysis ◽  
Quantitative Analysis ◽  
Lyapunov Exponents ◽  
Plane Motion ◽  
Vehicle Model ◽  
Motion Stability ◽  
Motion System ◽  
Nonlinear Vehicle Model ◽  
The Stability ◽  
Different Characteristics

The Lyapunov exponents method is an excellent approach for analyzing the vehicle plane motion stability, and the researchers demonstrated the effectiveness under 2-DOF vehicle model. However, whether the Lyapunov exponents approach can effectively reveal the characteristics of high-DOF nonlinear vehicle model is the key problem at present. In this paper, the Lyapunov exponents is applied to quantitatively analyze the stability of the nonlinear three and five degree of freedom vehicle plane motion system. The different characteristics between 2-DOF and high-DOF model are revealed and explained by using Lyapunov exponents. It illustrates the feasibility of using Lyapunov exponents to analyze the stability of high-DOF vehicle models, which supplements and perfects the existing quantitative analysis conclusion.

The Stability of Aeroplanes

1914 ◽  
Vol 18 (70) ◽  
pp. 68-85
Author(s):  
Leonard Bairstow
Keyword(s):  
Solid Body ◽  
Vital Importance ◽  
The Subject ◽  
The Stability ◽  
Type Of Stability ◽  
Considerable Complexity ◽  
Naval Architect

The problems which arise in the course of a study of aeroplane stability are of considerable complexity as compared with those confronting engineers in other branches of locomotion. Ocean–going vessels provide another instance of the motion of a solid body in a fluid and their stability is clearly one of vital importance. Naval architects have consequently studied the subject and calculations are made for the stability of each new design of ship. The process is so well known and so well founded that it surprises no one that a newly launched vessel remains on an even keel. One instance, not connected with British shipbuilding, serves to remind designers of the serious consequences of faulty calculation. The disaster relates to a ship which was launched fully engined, etc., and which turned turtle and sank within a few minutes of launching. The type of stability which the naval architect needs to calculate most carefully is that which is concerned with the security of the ship when rolling.

scholarly journals Analysis of the Oscillating Motion of a Solid Body on Vibrating Bearers

Machines ◽  
2019 ◽  
Vol 7 (3) ◽  
pp. 58 ◽  
Author(s):  
Bissembayev ◽  
Jomartov ◽  
Tuleshov ◽  
Dikambay
Keyword(s):  
Solid Body ◽  
Quantitative Methods ◽  
Nonlinear Differential Equations ◽  
Equations Of Motion ◽  
Horizontal Displacement ◽  
Oscillatory Process ◽  
Highly Nonlinear ◽  
Cumulative Curve ◽  
The Stability ◽  
Oscillating Motion

This article considers the oscillation of a solid body on kinematic foundations, the main elements of which are rolling bearers bounded by high-order surfaces of rotation at horizontal displacement of the foundation. Equations of motion of the vibro-protected body have been obtained. It is ascertained that the obtained equations of motion are highly nonlinear differential equations. Stationary and transitional modes of the oscillatory process of the system have been investigated. It is determined that several stationary regimes of the oscillatory process exist. Equations of motion have been investigated also by quantitative methods. In this paper the cumulative curves in the phase plane are plotted, a qualitative analysis for singular points and a study of them for stability are performed. In the Hayashi plane a cumulative curve of a body protected against vibration forms a closed path which does not tend to the stability of a singular point. This means that the vibration amplitude of a body protected against vibration does not remain constant in a steady state, but changes periodically.

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