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Optimal Stabilization of Programmed Motion of Manipulating Dynamical Systems


О.V. Druzhinina, O.N. Masina, E.V. Schennikova

Decision of a problem of optimal stabilization of programmed motion of complicated manipulating systems is suggested. At the level of subsystems it is synthesized stabilizing control, the form of integrand in criteria of quality of transient taking into account that subsystems are asymptotically stable is defined. Optimal control is synthesized at the level of the initial system. The example of application of obtained results for concrete system of differential equations of perturbed motion is considered. The results can be used in problems of control of motion of complicated spatial mechanisms, and also in problems of stabilization of motion of multiply connected systems of different types

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