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0216U002939,
0115U005228
,
The development of the Lyapunov functions method in problems of stability, control and stabilization of uncertain underactuated mechanical systems
Khoroshun Anatolii Sergeyevich,
28-12-2016
S.P.Timoshenko Institute of Mechanics
The equations of movement of the underactuated mechanical system which is presented by the pendulum with the fly-wheel on its free end are obtained. Also posible parametric inexactitudes are taken into consideration. The Dynamic Surface Control is used and the mathematical model of such UMS is presented as the slow-fast system of the differential equations. The control low of the fly-wheel rotation which guarantee the global asymptotic stability of the upper equilibrium of the pendulum is obtained. The proof of this fact is made using the method of Lyapunov functions. The restriction on the value of a small parameter is obtained. Robustness of such control is proved and the method of estimation of the region of robustness in the parameter space of the mechanical system is proposed.
Хорошун Анатолій Сергійович
2020-04-02
Updated: 2025-12-08
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