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THE STABILIZATION OF PROGRAM MOTIONS OF CONTROLLED NONLINEAR MECHANICAL SYSTEMS
Bezglasnyi, Sergey 한국전산응용수학회 2004 Journal of applied mathematics & informatics Vol.14 No.1
We consider a controlled nonlinear mechanical system described by the Lagrange equations. We determine the control forces $Q_1$ and the restrictions for the perturbations $Q_2$ acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. We solve the problem of stabilization by the direct Lyapunov's method and the method of limiting functions and systems. In this case we can use the Lyapunov's functions having nonpositive derivatives. The following examples are considered: stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of rigid body with fixed point.
The stabilization of program motions of controlled nonlinear mechanical systems,
Sergey Bezglasnyi 한국전산응용수학회 2004 Journal of applied mathematics & informatics Vol.14 No.-
We consider a controlled nonlinear mechanical system described by the Lagrange equations. We determine the control forces Q1 and the restrictions for the perturbations Q2 acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. We solve the problem of stabilization by the direct Lyapunov’s method and the method of limiting functions and systems. In this case we can use the Lyapunov’s functions having nonpositive derivatives. The following examples are considered: stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of rigid body with fixed point.