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Registration Number

0224U032047, 0123U103612 , R & D reports

Title

Analytical methods of qualitative analysis of motion control problems of nonlinear mechanical systems with uncertain parameters

Head

Khoroshun Anatoliy Serhiyovych, Доктор фізико-математичних наук

Registration Date

17-07-2024

Organization

Khoroshun Anatolii

Description

It has been developed the method of investigation for the non-linear uncertain non-autonomous multiple time scale systems of the differential equations using the Lyapunov functions method. On the basis of the method of dynamic surface control, a control construction technique has been developed and formalized. This control provides the desired dynamic characteristic of the program trajectories of "underactuated" mechanical systems with nonlinear elastic elements for all values ​​of uncertain parameters from some area, which is also determined in the research process. With the help of this technique, new control laws for a single-link manipulator with an elastic joint, which is modeled by a torsion spring with a nonlinear dependence of the elastic force from the displacement, are obtained. New auxiliary functions and new sufficient conditions for the desired dynamic characteristics of the solutions of such systems have been obtained in an explicit form.

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Khoroshun Anatolii S.