Computer-aided solution of some problems relating to control of the complicated mechanical systems. (English. Russian original) Zbl 1231.70026
Autom. Remote Control 68, No. 8, 1429-1437 (2007); translation from Avtom. Telemekh. 2007, No. 8, 146-155 (2007).
Summary: We consider the problem of the control of a complex object whose motion is described by a multi-linked nonlinear nonstationary mathematical model. Rigid constraints are imposed on the object with respect to the dynamic precision of its motion. In this paper, we solve the problem of the computer-aided generation of the current equations of motion of the object with regard to the actuators which differ from subsystem to subsystem. The object is controlled adaptively with regard to the computer-based realization. We construct algorithms for the operation of a control system, which maintains the guaranteed precision of motion of the object. We formulate conditions under which the problem has a solution. As a concrete example of a complex object, we consider a free flying space robot.
MSC:
| 70Q05 | Control of mechanical systems |
| 70E60 | Robot dynamics and control of rigid bodies |
| 93C83 | Control/observation systems involving computers (process control, etc.) |
Keywords:
control of complicated mechanical systems; computer-aided solution; guaranteed precision of motionReferences:
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