Stabilization of Programmed Motions of Constrained Mechanical Systems

A. E. Golubev; Голубев А. Е.

doi:10.31857/S0002338823040054

Stabilization of Programmed Motions of Constrained Mechanical Systems

Authors: Golubev A.E.¹
Affiliations:
1. Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences (IPMech RAS), 119526, Moscow, Russia
Issue: No 4 (2023)
Pages: 153-167
Section: CONTROL SYSTEMS FOR MOVING OBJECTS
URL: https://bakhtiniada.ru/0002-3388/article/view/136889
DOI: https://doi.org/10.31857/S0002338823040054
EDN: https://elibrary.ru/OCLSAO
ID: 136889

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Abstract
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Abstract

The problem of the stabilization of programmed trajectories of mechanical systems, taking the constraints on the values of generalized coordinates, velocities, and accelerations into account, is considered. The control is built using the backstepping method in combination with the use of logarithmic Lyapunov barrier functions. The stabilizing feedbacks obtained in this study, in contrast to similar known results, do not lead to an unlimited increase in the values of the control variables when the state variables of the system approach the boundary values. As an example, the problem of constructing and stabilizing the trajectory of the spatial motion of an underwater vehicle is considered.

About the authors

A. E. Golubev

Ishlinsky Institute for Problems in Mechanics, Russian Academy of Sciences (IPMech RAS), 119526, Moscow, Russia

Author for correspondence.
Email: v-algolu@hotmail.com
Россия, Москва

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