Details

Autor(en) / Beteiligte

• KRUT'KO, P. D

Titel

Control of the motion of Lagrangian systems. Synthesis of algorithms by the method of the inverse problems of dynamics

Ist Teil von

• Journal of computer & systems sciences international, 1996-11, Vol.34 (6), p.77-94

Ort / Verlag

Moscow: MAIK Nauka/Interperiodica

Erscheinungsjahr

1996

Beschreibungen/Notizen

• An examination is made of problems of stabilization of stationary states and program trajectories of the motion of holonomous mechanical systems. Control algorithms are synthesized from nonlinear models in the form of Lagrangian equations on the basis of the concepts of the inverse problems of dynamics in combination with the minimization of functionals characterizing the energy of acceleration in a neighborhood of the phase trajectories of the standard models. The synthesized algorithms have a two-level structure, they ensure the possibility of realizing high dynamic accuracy of control, and they impart to the systems properties of natural adaptiveness, that is, weak sensitivity to change in the parameters and perturbing forces. Recommendations for calculating the parameters in the algorithms are made.