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

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.

dynamics control, nonholonomic constraints, program constraints, stabilization, variation principle