Modeling of the optimal programs dependence on bodies geometric constraints when moving in a viscous medium

摘要

In the paper a body with a variable size moving in a viscous medium is investigated. Optimal control providing movement of the body for the limited time from the initial position to the final position with minimal energy consumption is constructed. In order to minimize the risk of loss of controllability that can happen when moving along an extreme trajectory, it is suggested to dynamically change the geometry of the body. As a result of the simulation, more safe and friendly control modes were obtained.