Synthesis of a control in a non-linear dynamical system based on decomposition (Q2714644)
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scientific article; zbMATH DE number 1607061
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Synthesis of a control in a non-linear dynamical system based on decomposition |
scientific article; zbMATH DE number 1607061 |
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20 June 2001
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control synthesis
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decomposition
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robot control
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reachability
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Lagrange equations
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Synthesis of a control in a non-linear dynamical system based on decomposition (English)
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The paper deals with a nonlinear controlled dynamical system with many degrees of freedom which is modelled by the Lagrange equations of the second kind. One formulates a problem of transition from the given initial state into the terminal state with zero velocities for the final time. The control is constructed for the subsystems of the decomposed system. The general result is applied to the problem of robot control.
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