Optimal stabilization of the equilibrium positions of a rigid body using rotors

In this work, the problem of optimal stabilization of the equilibrium positions of a rigid body using internal rotors is studied. The conditions for the optimal stabilization of the equilibrium positions are used to deduce a feedback control law as functions of the phase coordinates of the body and the parameters describing the equilibrium positions. The Lyapunov function is used to prove the asymptotic stability of these positions. Special cases and analysis of the obtained results are presented to assess the present method. Moreover, some of the results are compared with those obtained in the literature using other methods. In contrast to the usual methods in the literature, which stabilize some of the equilibrium positions of the rigid body, the present one has the advantage of stabilizing all the equilibrium positions with optimal control law.     

The steady motions of a satellite with a two-degree-of-freedom powered gyroscope in a central gravitational field and their stability

The positions of relative equilibrium of a satellite carrying a two-degree-of-freedom powered gyroscope, in the axes of the framework of which only dissipative forces can act, are investigated within the limits of a restricted circular problem. For the case when the “satellite - gyroscope” system possesses the property of a gyrostat and the axis of the gyroscope frame is directed parallel to one of the principal central axes of inertia of the satellite, all the equilibrium positions are found as a function of the magnitude of the angular momentum of the rotor. It is established that the minimum number of equilibrium positions is equal to 32 and, in certain ranges of values of the system parameters, it can reach 80. All the positions satisfying the sufficient conditions for stability are also determined. The number of them is either equal to 4 or 8 depending on the values of the system parameters.     

Stabilization of a quasi-conservative system subjected to high frequency excitation

The existence and stability conditions for the steady motions and equilibrium positions of non-linear quasi-conservative systems with fast external perturbations having quasi-periodic and random components are investigated. A change of variables is proposed which reduces Lagrange's equations of the system to standard form. It is shown the averaged system of the first approximation has a canonical form and the effect of fast perturbations (not necessarily potential) is equivalent to a change in the system's potential. This leads to stabilization of unstable equilibrium positions and to the appearance of additional stationary points different from the equilibrium positions of the unperturbed system. The approach used is illustrated by examples; the stability of a pendulum on an elastic suspension when there is suspension point, and the steady motion of a sphere subjected to a high-frequency load. The critical loading of a double pendulum loaded by a pulsating tracking force is estimated. A form of wide-band random perturbations capable of stabilizing the system is considered.     

Optimal stabilization of an equilibrium position of a rigid body using rotors system with friction forces

The optimal stabilization of one class of equilibrium positions of a rigid body using rotors system with internal friction is studied. The performance index is an integral form of a quadratic function in the state and control variables. Both of the angular velocity and orientation variables are regulated. The optimal driving control moments which stabilize this position are obtained using the conditions of ensuring the optimal asymptotic stability of this position as non-linear functions of phase coordinates of the body. Some known results on the optimal control of equilibrium positions of a rigid body are improved and new results are obtained. Numerical simulation is presented.     

Numerical treatment of a free surface problem in ferrohydrodynamics

The interactions between a ferrofluid with a free surface and an immersed permanent magnet are studied. We consider a strategy for the computation of equilibrium positions of the free surface for various geometric positions of the magnet. It will be used for the numerical simulation of devices that are used in spacecraft technology to damp oscillations of satellites. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Dynamics of an axisymmetric gyrostat satellite. Equilibrium positions and their stability

The dynamics of an axisymmetric gyrostat satellite in a circular orbit in the central Newtonian force field is investigated. All the equilibrium positions of the gyrostat satellite in the orbital system of coordinates are determined, and the conditions for their existence are analysed. All the bifurcation values of the system parameters at which the number of equilibrium positions changes are found. It is shown that, depending on the values of the parameters of the problem, the number of equilibrium positions of a gyrostat satellite can be 8, 12 or 16. The evolution of regions where the sufficient conditions for stability of the equilibrium positions hold is investigated.     

The equilibrium positions of a satellite carrying a three-degree-of-freedom powered gyroscope in a central gravitational field

For a satellite, carrying an arbitrary number of three-degree-of-freedom powered gyroscopes, the whole set of equilibrium positions in a central gravitational field in a circular orbit is determined and a detailed analysis of their secular stability is presented. The asymptotic properties of the satellite motions when there is dissipation in the axes of the gyroscope frames are investigated.     

压电螺型位错与含非理想界面层圆形夹杂的干涉效应

研究了位于压电材料基体或夹杂中任意点的压电螺型位错与含非理想界面层圆形夹杂的电弹性干涉问题．运用复变函数方法,获得了复势函数的精确解．由广义Peach-Koehler公式,导出了作用在螺型位错上的像力的精确表达式．讨论了不同参数对压电螺型位错的运动和平衡位置的影响规律．研究结果表明,对某些材料组合,当界面层的内界面是非理想界面且界面的非理想度达到一定值时,在基体中靠近界面处会出现两个位错的平衡位置,此现象未在以往研究(不考虑非理想界面)中观察到．     

Control of the spatial motion of a multilink inverted pendulum using a torque applied to the first link

An approach to constructing a control for non-linear mechanical systems in which the number of degrees of freedom exceeds the dimension of the generalized control forces is developed. An n-link pendulum with two-degree-of-freedom joints, controlled by a torque applied to the first link, is considered as an example. Such a pendulum has 2ⁿ different equilibrium positions. A feedback control with an absolute value constraint, which transfers the pendulum from the neighbourhood of an arbitrary equilibrium position to this equilibrium position in a finite time, is constructed. For this purpose, the equations of motion of the pendulum are linearized in the neighbourhood of the equilibrium position under consideration, complete controllability of the linear model is established, and a control is constructed for it using the linear matrix inequality technique. The applicability of the control law obtained to the solution of the problem of controlling a non-linear multilink pendulum is verified. ©2014     

On a non-linear wave equation and the control of an elastic string from one equilibrium location to another

This paper concerns a non-linear system of wave equations describing the motion in space of an elastic string. We derive the equations, determine the equilibrium solutions and, using the methods of quasilinear hyperbolic systems, prove that the natural initial, boundary value problem has classical solutions existing in neighbourhoods of the “stretched” equilibrium solutions. We then prove that the positions of the endpoints of the string can be controlled in such a way that the string moves from an equilibrium in one location to an equilibrium in another location.     

Weak equilibrium in a spatial model

Spatial models of two-player competition in spaces with more than one dimension almost never have pure-strategy Nash equilibria, and the study of the equilibrium positions, if they exist, yields a disappointing result: the two players must choose the same position to achieve equilibrium. In this work, a discrete game is proposed in which the existence of Nash equilibria is studied using a geometric argument. This includes a definition of equilibrium which is weaker than the classical one to avoid the uniqueness of the equilibrium position. As a result, a “region of equilibrium” appears, which can be located by geometric methods. In this area, the players can move around in an “almost-equilibrium” situation and do not necessarily have to adopt the same position.     

A qualitative analysis of the subharmonic oscillations of a parametrically excited flexible rod

A non-autonomous non-linear dynamical system with a small parameter that describes the parametric oscillations of a flexible rod with three static equilibrium positions is obtained. The generating equation of this model is a dynamical system in a plane with a separatrix loop. The qualitative analysis presented includes an investigation of the stability and bifurcation of subharmonic motions at resonance energy levels.     

The self-induced rotational and oscillatory motions of an aerodynamic pendulum

The behaviour of an oscillatory mechanical system with alternating dissipation is considered taking an aerodynamic pendulum as an example. The phase portraits are investigated, their rearrangements are studied and the critical values of a parameter are determined. The equilibrium positions of the pendulum and the self induced rotational and oscillatory states of the motion are determined and their stability is investigated.     

Searching for equilibrium positions in a game of political competition with restrictions

This paper considers a problem of political economy in which a Nash equilibrium study is performed in a proposed game with restrictions where the two major parties in a country vary their position within a politically flexible framework to increase their number of voters. The model as presented fits the reality of many countries. Moreover, it avoids the uniqueness of equilibrium positions. The problem is stated and solved from a geometric point of view.     

Model of crack opening in a molecular crystal

Conclusion The mechanical behavior of the discrete structure of a solid can be modeled by a linear system of three particles interacting in accordance with the approximate Born-Oppenheimer law with Lennard-Jones coefficients. Such a model manifests the following properties: elasticity (with small strains); plasticity (residual strains in the presence of two different equilibrium positions); viscosity (change in the frequency of the vibrations with an increase in the forces); hysteresis (with the jump of the middle particle from the left to the right equilibrium position and back); fusion (change in the frequency of the vibrations with an increase in strains).The phenomenon of the interaction of three particles, referred to a linear chain of particles and an organic crystal model, offers a representation of the mechanism of crack opening in a discrete solid.Translated from Mekhanika Kompozitnykh Materialov, No. 3, pp. 446–452, May–June, 1986.     

The stability of the equilibrium positions of non-linear non-autonomous mechanical systems

The problem of the stability of the equilibrium positions for a certain class of non-linear mechanical systems under the action of time-dependent quasipotential and dissipative-accelerating forces is considered. A method is proposed for constructing Lyapunov functions for these systems. Sufficient conditions for the stability of an equilibrium position both with respect to all of the variables as well as with respect to some of the variables are determined using the direct Lyapunov method.     

Bifurcations of the relative equilibria of a heavy bead on a rotating hoop with dry friction

The sliding of a heavy bead, threaded on a thin circular hoop, rotating with a constant angular velocity around a vertical axis, situated in its plane and, in the general case, not passing through its vertical diameter, is considered. It is assumed that dry friction acts between the bead and the hoop. A set of unisolated positions of relative equilibrium of the bead on the hoop is obtained, and their dependence on the problem parameters is investigated. The results are presented in the form of bifurcation diagrams. The stability properties of the unisolated relative equilibria obtained are discussed.     

Equilibrium analysis for a mass-conserving model in presence of cavitation

We study the existence of equilibrium positions for the load problem in Lubrication Theory. The problem consists of two surfaces in relative motion separated by a small distance filled by a lubricant. The system is described by the modified Reynolds equation (Elrod–Adams model) which describes the behavior of the lubricant and an extra integral equation given the balance of forces. The balance of forces allows to obtain the unknown position of the surfaces, defined with one degree of freedom.     

Construction of stability regions in the three-body problem using parameter elimination

It is shown, using the example of an investigation of the stability of relative equilibrium positions (libration points) in the classical three-body problem and in several modifications of it, that in many cases it, is simpler and more informative to construct the stability region of equilibrium positions in the configuration space of the system rather than in the parameter space.