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Limited control of a rheonomous mechanical system under uncertainty

✍ Scribed by I.M. Anan'yevskii

Publisher: Elsevier Science
Year: 2001
Tongue: English
Weight: 848 KB
Volume: 65
Category: Article
ISSN: 0021-8928
DOI: 10.1016/s0021-8928(01)00084-3

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✦ Synopsis

A rheonomous mechanical system is considered. The kinetic energy of this system is represented in the form of a complete quadratic polynomial with coefficients which depend explicitly on time. It is assumed that the coefficients of this polynomial are unknown and that uncontrolled limited perturbation act on the system. A control law is proposed which enables the system to be brought to a specified final state after a finite time using a force of finite modulus. Piecewise-linear feedbacks are used in the proposed algorithm and the amplification factors of these feedbacks are increased as the system approaches the final state. The algorithm is validated using the second Lyapunov method. The results of numerical modelling are presented.

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