Solution of the local boundary value problem for a nonlinear non-stationary system in the class of synthesising controls with account of perturbations

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Abstract

A sufficiently convenient algorithm for constructing differentiable control functions that guarantee the translation of a wide class of nonlinear non-stationary systems of ordinary differential equations from the initial state to a given point in the phase space, with account of the control constraint and the non-stationary perturbation. Constructive sufficient conditions are imposed on the right part of the controlled system, under which the indicated translation is possible. The problem of motion control by a robot manipulator when moving a body of variable mass to a given point is considered and its numerical simulation is carried out.

Original languageEnglish
Article number8
Pages (from-to)1931-1941
Number of pages11
JournalInternational Journal of Control
Volume 93
Issue number8
Early online date31 Oct 2018
DOIs
StatePublished - Aug 2020

Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

Keywords

  • Boundary conditions
  • controlled system
  • phase coordinates
  • stabilization

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