Nonlinear Regulators in the Position Stabilization Problem of the Holonomic Mechanical System

Abstract

The application of nonlinear proportional-integral and proportional-integro-differential regulators in the program position stabilization problem of a holonomic mechanical system is investigated. To this end, the method of Lyapunov functionals is developed in the stability problem of Volterra integro-differential equations. As an example, the global regulation problem of a three-link planar manipulator is solved.