Decomposition and suboptimal control in dynamic systems (Q5917706)

A nonlinear dynamic control system described by Lagrange equations is considered. Constraints on controlling forces are imposed. The aim of control is to steer the system in a finite nonfixed time from an arbitrary initial state to a given terminal state. To obtain the solution, the decomposition of the original system into subsystems with one degree of freedom and a differential game approach to the control problem for these subsystems are used. Suboptimal and robust feedback control laws are given in explicit form. The results obtained can be applied to the control of manipulation robots.