Modeling of Kinematic Properties and Dynamics Control of Systems with Program Constraints

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Abstract


The present paper proposes the differential equations systems construction method which is used for determination of non-stationary nonholonomic constraints equations. The problem of dynamic equations construction is considered based on the integral variation principle. The expressions for control forces acting on the system in order to ensure consistence with constraints equations imposed on the system, are determined. Some results of solving the applied problems illustrate efficiency of the described methods.

About the authors

O V Matukhina

Chemist-technological institute of Nizhnekamsk

Email: ovmatukhina@gmail.com
Кафедра информационных систем и технологий; Нижнекамский химико-технологический институт; Chemist-technological institute of Nizhnekamsk

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Copyright (c) 2012 Матухина О.В.

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