Astakhova T. Synthesis of control for systems with uncontrollable linear approximation

Українська версія

Thesis for the degree of Candidate of Sciences (CSc)

State registration number

0413U007261

Thesis Registration Form

0413U007261.pdf

Applicant for

Specialization

  • 01.02.01 - Теоретична механіка

05-12-2013

Specialized Academic Board

Д 11.193.01

Essay

Sufficient conditions for the local controllability of nonlinear systems in a class of parameterized controls are proved. The two-point control problem for arbitrary boundary conditions is solved for nonholonomic mechanic systems. A sampled control function is built which provides the existence of the omega-limit point for all trajectories in a neighborhood of the equilibrium. The stabilization problem is solved for nonholonomic mechanic systems with the use of a family of discontinuous control functions on a finite time interval for the initial conditions on a whole neighborhood of the singular point and continuous feedback in a dense domain of the state space.

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Files

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