Energy Damping Problems and Control Algorithms of Motion of Dynamical Systems. Nonlinear Models

摘要

Problems of stabilizing stationary states and open-loop trajectories of motion are formalized and solved as problems of damping the kinetic energy and the energy of acceleration. Control algorithms are synthesized by the nonlinear classical models in the form of Newto, Euler, and Lagrange equations. Algorithms for the coordinated control and for the control that is independent with respect to degrees of freedom have unified structures and can be used for different models of control objects. These algorithms endow systems with properties of decomposability and weak sensitivity to changes in parameters and to perturbing forces. The results of the study of the dynamics of control processes of motion of a Puma-type robot are discussed.