Email this article On stabilization of program motions of holonomic mechanical system
- Authors: Andreev A.S.1, Peregudova O.A.1
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Affiliations:
- Ulyanovsk State University
- Issue: Vol 77, No 3 (2016)
- Pages: 416-427
- Section: Nonlinear Systems
- URL: https://journals.rcsi.science/0005-1179/article/view/150253
- DOI: https://doi.org/10.1134/S0005117916030048
- ID: 150253
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Abstract
Consideration was given to stabilization of the program motion of a holonomic mechanical system. A methodology of designing a nonlinear control stabilizing the given set of program motions was proposed. It relies on the Lyapunov vector function and a comparison system which enables one to control the stabilization process. At that, the generated control is robust in variations of the system parameters and allows for the uncontrollable forces.
About the authors
A. S. Andreev
Ulyanovsk State University
Author for correspondence.
Email: AndreevAS@ulsu.ru
Russian Federation, Ulyanovsk
O. A. Peregudova
Ulyanovsk State University
Email: AndreevAS@ulsu.ru
Russian Federation, Ulyanovsk
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