DOI

The wide class of nonlinear stationary systems of ordinary differential equations taking into account restrictions on control and external perturbation is considered. An algorithm for constructing a discrete control function that guarantees the transfer of the systems from the initial state to the origin and an arbitrary neighborhood of the origin is proposed. A constructive sufficient condition of the Kalman type, in which the specified translation is possible, is obtained. The problem of robot-manipulator control is considered and its numerical simulation is carried out.

Язык оригиналаанглийский
Страницы (с-по)4515-4536
Число страниц22
ЖурналInternational Journal of Robust and Nonlinear Control
Том29
Номер выпуска13
DOI
СостояниеОпубликовано - 10 сен 2019

    Предметные области Scopus

  • Прикладная математика

ID: 45794310