Controllability and decomposition in mechanical systems

Authors Veljko A. Vujičić, A. M. Kovalev

Publication date 18 December 2001

Published in Prikladnaya Matematika i Mekhanika (Search for Journal in Brave)

angular velocity controllability criterion controlled Hamiltonian system decomposition method generalized nonpotential forces jet engine Lyapunov function method method of invariant relations method of oriented manifolds orientation rigid body

Mathematics Subject Classification ID

Hamilton's equations (70H05) Control of mechanical systems (70Q05) Control/observation systems governed by partial differential equations (93C20)

Review text

The authors investigate the motion of controlled system whose behavior is described by equations with canonical Hamiltonian variables \(p\) and \(q\): \(\dot q^i = \frac{\partial H}{\partial p_i}\), \(\dot p_i = -\frac{\partial H}{\partial q^i}+Q_i\), \(i=1,\dots,n\), \(H = \frac 12 a^{ij}(q)p_ip_j+\Pi(q)\), \(Q_i = Q_i(q,p,u)\). Here \( H = H(q,p) \) is the Hamiltonian function, \(Q_i\) are generalized nonpotential forces, \(u\in U\) is the \(m\)-dimensional control vector. For this system which is linear with respect to control, the problem on controllability is reduced to the analysis of solvability of a system of partial differential equations of a special form. As example, the authors consider the problem on controllability of angular velocity and orientation of a rigid body by means of a single jet engine.

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