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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Imprimir: 1064-2315
ISSN En Línea: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v35.i2.60
10 pages

Non-Stationary Modes of Hopping Apparatus Movement


The control algorithms of non-stationary mode of a hopping apparatus movement are considered. The problem of movement start is considered. This problem is considered for both the model of a hopping apparatus with a weightless leg (for this model the analytical solution is presented) and for the model with weighty leg. For this model of hopping apparatus the problem of movement start was formulated as the variational one. For its solution the numerical algorithm based on the quasilinearization method is offered. Examples of start-off problem solutions are considered. With these examples the comparison of characteristics of acceleration of models with weightless and weighty leg is carried out.

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