The stabilization of program motions of controlled nonlinear mechanical systems (Q1429004)

The author determines the control forces \(Q_1\) and the restrictions for the perturbations \(Q_2\) acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. The problem of stabilization is solved by the direct Lyapunov's method and by the method of limiting functions and systems. Stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of a rigid body with fixed point are considered as examples.