TY - JOUR

T1 - On a method for solving a local boundary problem for a nonlinear stationary system with perturbations in the class of piecewise constant controls

AU - Kvitko, Alexander N.

AU - Maksina, Alla M.

AU - Chistyakov, Sergey V.

PY - 2019/9/10

Y1 - 2019/9/10

N2 - 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.

AB - 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.

KW - boundary conditions

KW - control functions

KW - local null controllability

KW - nonlinear systems

KW - stabilization

UR - http://www.scopus.com/inward/record.url?scp=85068116788&partnerID=8YFLogxK

U2 - 10.1002/rnc.4644

DO - 10.1002/rnc.4644

M3 - Article

AN - SCOPUS:85068116788

VL - 29

SP - 4515

EP - 4536

JO - International Journal of Robust and Nonlinear Control

JF - International Journal of Robust and Nonlinear Control

SN - 1049-8923

IS - 13

ER -