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Information × Registration Number 0217U007334, 0117U007132 , R & D reports Title The development of the theory of slow-fast dynamical systems with application in problems of stability, control and stabilization of uncertain underactuated mechanical systems popup.stage_title Head Khoroshun Anatolii Sergeyevich, Registration Date 28-12-2017 Organization S.P.Timoshenko Institute of Mechanics popup.description2 The equations of movement of the underactuated mechanical system TORA are obtained. TORA is presented by the attached to the wall by the spring cart with a symmetric relative to the center wheel which contains a point mass. 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. Product Description popup.authors Хорошун Анатолій Сергійович popup.nrat_date 2020-04-02 Close