On the construction of dynamic equations taking into account the constraint stabilization

Излагается метод решения задачи управления динамикой системы с кинематическими свойствами и целью управления, заданными уравнениями связей. Решение задачи с учетом стабилизации связей рассматривается как обратная задача динамики.

MODELING OF CONTROL PROCESSES, STABILITY AND STABILIZATION OF SYSTEMS WITH PROGRAM CONSTRAINTS

Results of researches on modeling of dynamics of difficult systems containing different physical elements, solving dynamics problems and control of a rigidbody and robotics systems are stated. Necessary conditions for stability of decisions of dynamics equations are defined, and the algorithm of the constraintsperturbations equations construction, guaranteeing constraint stabilization is offered at the numerical solution. Some results of the applied problems solutionillustrate efficiency of the described methods