Summary: We consider a nonlinear dynamic system described by Lagrange equations. The system is subject to uncertain external forces and to controls bounded by geometric constraints. We propose a feedback control that satisfies the imposed conditions and brings the system to the prescribed terminal state in finite time. The control is based on the decomposition of the system and uses ideas of optimal control and differential games. Explicit formulas for the feedback control are presented.
For the entire collection see [Zbl 0790.00014].