Journal of applied mathematics & informatics

The Korean Society for Computational and Applied Mathematics (한국전산응용수학회)
권호 표지

THE STABILIZATION OF PROGRAM MOTIONS OF CONTROLLED NONLINEAR MECHANICAL SYSTEMS

  • Bezglasnyi, Sergey (Department of Applied Mathematics, Samara State Academy of Building and Architecture)
  • Published : 2004.01.01

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Abstract

We consider a controlled nonlinear mechanical system described by the Lagrange equations. We determine the control forces $Q_1$ and the restrictions for the perturbations $Q_2$ acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. We solve the problem of stabilization by the direct Lyapunov's method and the method of limiting functions and systems. In this case we can use the Lyapunov's functions having nonpositive derivatives. The following examples are considered: stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of rigid body with fixed point.

Keywords

References

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