TY - JOUR

T1 - A Constructive Method of Solving Local Boundary Value Problems for Nonlinear Systems with Perturbations and Control Delays

AU - Kvitko, Alexander N.

AU - Eremin, Alexey S.

N1 - Publisher Copyright: © 2022 by the authors.

PY - 2022/8/3

Y1 - 2022/8/3

N2 - In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with an account of external perturbations is studied. The control satisfies given restrictions, and there is a fixed delay in it. An algorithm to construct a control transferring a system from a certain initial state to an arbitrary neighborhood of the origin is proposed. The algorithm has both numerical and analytical stages and is easy to implement. A constructive sufficient Kalman-type condition of possibility of the transfer is derived. The algorithm efficiency is demonstrated by solving a robot manipulator controlling problem.

AB - In this paper, a class of controllable nonlinear stationary systems of ordinary differential equations with an account of external perturbations is studied. The control satisfies given restrictions, and there is a fixed delay in it. An algorithm to construct a control transferring a system from a certain initial state to an arbitrary neighborhood of the origin is proposed. The algorithm has both numerical and analytical stages and is easy to implement. A constructive sufficient Kalman-type condition of possibility of the transfer is derived. The algorithm efficiency is demonstrated by solving a robot manipulator controlling problem.

KW - boundary conditions

KW - control functions

KW - delayed control

KW - nonlinear systems

KW - stabilization

UR - http://www.scopus.com/inward/record.url?scp=85137399412&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/8251943c-579b-3d1e-80af-9cca9d757e3f/

U2 - 10.3390/sym14081595

DO - 10.3390/sym14081595

M3 - Article

AN - SCOPUS:85137399412

VL - 14

JO - Symmetry

JF - Symmetry

SN - 2073-8994

IS - 8

M1 - 1595

ER -