On the optimal control of rate-independent soft crawlers

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F21%3A00537210" target="_blank" >RIV/67985556:_____/21:00537210 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S0021782420301896" target="_blank" >https://www.sciencedirect.com/science/article/pii/S0021782420301896</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.matpur.2020.11.005" target="_blank" >10.1016/j.matpur.2020.11.005</a>

Result language
angličtina
Original language name
On the optimal control of rate-independent soft crawlers
Original language description
Existence of optimal solutions and necessary optimality conditions for a controlled version of Moreau's sweeping process are derived. The control is a measurable ingredient of the dynamics and the constraint set is a polyhedron. The novelty consists in considering time periodic trajectories, adding the requirement that the control has zero average, and considering an integral functional that lacks weak semicontinuity. A model coming from the locomotion of a soft-robotic crawler, that motivated our setting, is analysed in detail. In obtaining necessary conditions, a variant of the method of discrete approximations is used.
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10102 - Applied mathematics

Project
<a href="/en/project/GF19-29646L" target="_blank" >GF19-29646L: Large Strain Challenges in Materials Science</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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