Constrained control of a mechanical system in conditions of uncertainty (Q1593987)

The author considers a controlled mechanical system with unknown coefficients in its kinetic energy and unknown external forces. A control force is constructed as a linear feedback with respect to generalized coordinates and velocities. The maximum admissible level of the external forces is determined when the system may be steered from any initial point belonging to the given domain to the origin in a finite time by a bounded control force under given constraints on unknown factors. By using the second Lyapunov method the author obtains an algorithm for calculating the coefficients of the sought control force.