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Solution of the local boundary value problem for a nonlinear non-stationary system in the class of synthesising controls with account of perturbations. / Квитко, Александр Николаевич.
в: International Journal of Control, Том 93, № 8, 8, 08.2020, стр. 1931-1941.Результаты исследований: Научные публикации в периодических изданиях › статья › Рецензирование
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TY - JOUR
T1 - Solution of the local boundary value problem for a nonlinear non-stationary system in the class of synthesising controls with account of perturbations
AU - Квитко, Александр Николаевич
N1 - DOI: 10.1080/00207179.2018.1537520
PY - 2020/8
Y1 - 2020/8
N2 - 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.
AB - 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.
KW - Boundary conditions
KW - controlled system
KW - phase coordinates
KW - stabilization
UR - http://www.scopus.com/inward/record.url?scp=85055755936&partnerID=8YFLogxK
U2 - 10.1080/00207179.2018.1537520
DO - 10.1080/00207179.2018.1537520
M3 - Article
AN - SCOPUS:85055755936
VL - 93
SP - 1931
EP - 1941
JO - International Journal of Control
JF - International Journal of Control
SN - 0020-7179
IS - 8
M1 - 8
ER -
ID: 36232025