Process Self-Adjusting Control of Non-Impact Bringing of the Condition of Mechanics Systems to Given Set

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The procedure for building auto-adjustment control vector to bring the state of the mechanical systems without impact in a given manifold for a finite period of time in the face ofuncertainty is described. Previously obtained the solution of the problem of bringing the phase state of the system ina given neighborhood of the manifold formed by the non-stationary holonomic program constraints. In this paper we extend this approach to the task of bringing non-impact phase of thesystem for a finite period of time in the manifold formed by the holonomic and nonholonomicprogram constraints. In this case, even the mechanical system can have besides stationary and non-stationary communications. Received a lot of control vectors that provide a solution to this problem of self-adapting control of feedback on the quasi-accelerations at discretepoints in time. Then this set of control vectors allocated dimension smaller than the numberof degrees of freedom of the system, including the minimum dimension vector. In cases where the vectors control more than the minimum, stand vectors with minimal Euclidean norm. The obtained results allow us to meet the challenges of an applied nature, such as processcontrol unstressed docking surface, swimming, aircraft and spacecraft as they move freely inspace, but also a process of unstressed landers landing on the moving platform, the nature of the movement are not fully known. To illustrate the effectiveness of the proposed method for solving such problems an exampleof a process control of non-impact bringing of position of the body in a predetermined orientation with haunting movement of the center of mass of the body on the basis of proportionalnavigation is proposed.

About the authors

I A Mukhametzyanov

Peoples’ Friendship University of Russia

Department of Theoretical Mechanics


Copyright (c) 2013 Мухаметзянов И.А.

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