Stabilization of a Moving Object in a Neighborhood of an Instable Equilibrium: Some Peculiarities of Problem Statement
- Authors: Stepan’yants G.A.1
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Affiliations:
- Moscow Aviation Institute (National Research University)
- Issue: Vol 58, No 3 (2019)
- Pages: 329-334
- Section: Systems Theory and General Control Theory
- URL: https://journals.rcsi.science/1064-2307/article/view/220360
- DOI: https://doi.org/10.1134/S1064230719030183
- ID: 220360
Cite item
Abstract
The problem of designing a control law that guarantees the asymptotical stability of a moving object in a neighborhood of an instable equilibrium of the isolated system is considered. The desired control law minimizes the energy cost function that is assumed to be proportional to the integral of a positive definite quadratic form of the control vector. If the motion equations can be decomposed into globally asymptotically stable and instable subsystems, then this control law depends only on the state vector of the instable subsystem. The optimal control law can be obtained using time reversal from the motion equations of the instable subsystem.
About the authors
G. A. Stepan’yants
Moscow Aviation Institute (National Research University)
Author for correspondence.
Email: gssst@rambler.ru
Russian Federation, Moscow, 125080