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Forward and backward motion control of a vibro-impact capsule system.

Liu, Yang; Pavlovskaia, Ekaterina; Wiercigroch, Marian; Peng, Zhike


Yang Liu

Ekaterina Pavlovskaia

Marian Wiercigroch

Zhike Peng


A capsule system driven by a harmonic force applied to its inner mass is considered in this study. Four various friction models are employed to describe motion of the capsule in different environments taking into account Coulomb friction, viscous damping, Stribeck effect, pre-sliding, and frictional memory. The non-linear dynamics analysis has been conducted to identify the optimal amplitude and frequency of the applied force in order to achieve the motion in the required direction and to maximize its speed. In addition, a position feedback control method suitable for dealing with chaos control and coexisting attractors is applied for enhancing the desirable forward and backward capsule motion. The evolution of basins of attraction under control gain variation is presented and it is shown that the basin of the desired attractors could be significantly enlarged by slight adjustment of the control gain improving the probability of reaching such an attractor.


LIU, Y., PAVLOVSKAIA, E., WIERCIGROCH, M. and PENG, Z. 2015. Forward and backward motion control of a vibro-impact capsule system. International journal of non-linear mechanics [online], 70, pages 30-46. Available from:

Journal Article Type Article
Acceptance Date Oct 8, 2014
Online Publication Date Oct 23, 2014
Publication Date Apr 1, 2015
Deposit Date Oct 27, 2015
Publicly Available Date Oct 27, 2015
Journal International Journal of Non-Linear Mechanics
Print ISSN 0020-7462
Electronic ISSN 1878-5638
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 70
Pages 30-46
Keywords Capsule; Vibroimpact; Friction; Motion control; Position feedback control
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