Using the decomposition principle to stabilize the nominal motion of a mechanical system with given accuracy

DOI10.1134/S0005117912120065MaRDI QIDQ2393039zbMATHFDO

Authors M. M. Živanović, Mihailo P. Lazarević

Publication date 7 August 2013

Published in Automation and Remote Control (Search for Journal in Brave)

zbMATH Keywords

decomposition principlecontrollable scleronomic holonomic mechanical systemLa Salle's practical stabilityLefshetz' practical stabilitynominal motionPyatnitskii's decomposition principle

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15) Stability of control systems (93D99)

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Cites work

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• Controlling the motion of robot manipulators by decomposition taking into account the actuator dynamics
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• Modelling and control of robot manipulators.
• Motional stability of manipulator robots in a decomposition mode
• Sliding mode control: mathematical tools, design and applications
• The control of a mechanical system with unknown parameters by a bounded force
• The decomposition method for a control problem for an underactuated Lagrangian system
• Universal continuous laws for controlling the manipulation robot

Cited in

(2)

• Synthesis of invariant nonlinear single-channel sigmoid feedback tracking systems ensuring given tracking accuracy
• On the E. S. Pyatnitskii principle of decomposition

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