2018/07/17 by Ivan A. Bizyaev, Bizyaev, Ivan A., А. В. Борисов +3 · 1 citation
Engineering · Physics and Astronomy · #Chaotic Dynamics (nlin.CD) #Control and Dynamics of Mobile Robots #Experimental and Theoretical Physics Studies #FOS: Physical sciences #Quantum chaos and dynamical systems #Sports Dynamics and Biomechanics
paper · pdf · doi:10.48550/arxiv.1807.06340
openalex publication_date 2018/07/17 · openalex created_date 2022/08/04 · openalex updated_date 2026/07/28
For a Chaplygin sleigh moving in the presence of weak friction, we present\nand investigate two mechanisms of arising acceleration due to oscillations of\nan internal mass. In certain parameter regions, the mechanism induced by small\noscillations determines acceleration which is on average one-directional. The\nrole of friction is that the velocity reached in the process of the\nacceleration is stabilized at a certain level. The second mechanism is due to\nthe effect of parametric excitation of oscillations, when the internal moving\nparticle is comparable in mass with the main platform, and, as occurs, a\nnecessary condition for the acceleration is presence of friction. The\nparametric instability and the resulting acceleration of the sleigh turn out to\nbe bounded if the line of oscillations of the moving mass is displaced from the\ncenter of mass. The steady-state regime of motion is in many cases associated\nwith a chaotic attractor; accordingly, the motion of the sleigh turns out to be\nsimilar to the process of random walk on a plane.\n