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Optimal stabilization algorithms of programmed motion of manipulating dynamical systems


O.V. Druzhinina, V.N. Shchennikov, E.V. Shchennikova

Algorithms of optimal stabilization of programmed motion of complicated manipulating systems is constructed. The properties of stabi-lizing control and form of integrand in criteria of quality of transient are used taking into account that subsystems are asymptotically sta-ble. Optimal control is synthesized at the level of the initial system. The results can be used in problems of control of motion of compli-cated spatial mechanisms, and also in problems of stabilization of motion of multiply connected systems of different types.
June 24, 2020
May 29, 2020

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