scientific article; zbMATH DE number 175791

Stability for nonlinear problems in mechanics (70K20) Control of mechanical systems (70Q05) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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[For the entire collection see Zbl 0747.00019.] The author considers synthesis of a mechanical system obeying Euler- Lagrange equations of the form: \[ d/dt(\partial T/\partial \dot q_ i)- \partial(T-\Pi)/\partial q_ i=Q_ i(\dot q,q)+u_ i(t),\tag{1} \] where \(u_ i(t)\) is the control, \(i=1,2,\dots,n\). The control components are bounded in the absolute value: \(| u_ i(t)|\leq h\), \(i=1,2,\dots,n\). \(T\), \(\Pi\), \(Q\) denote respectively, the kinetic, potential, and dissipative energy. The generalized forces derived from the potential are bounded by magnitude of the corresponding control forces. (This appears to the reviewer to be an artificial constraint, assumed for mathematical convenience.) The purpose of the control is to bring the system to the state: \(\{{\mathbf q}=a,\dot{\mathbf q}=0\}\). The system obeys some geometric constraints of the form: \[ g_ s(q_ s)=(q_ s-\alpha_ s)(\beta_ s-q_ s)\geq 0, \qquad s=1,\dots,m_ 1. \] The controls are chosen of the form \(u_ i=\partial\Pi/\partial q_ i-\varphi_ i(\dot q_ i)- \partial\Phi/\partial q_ i\), \(i=1,\dots,n\), where the (variable) total energy of the system is given by: \(E=\Phi+T\). Showing that \(E\) can be used as a Lyapunov function the author proves three theorems concerning stability and asymptotic stability of the system.

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