 | | Journal of Applied
Mathematics and Mechanics
Russian Academy of Sciences | | Founded
in January 1936
(Translated from 1958)
Issued 6 times a year
ISSN 0021-8928
(print version) |
Archive of Issues
| Total articles in the database: | | 10512 |
| In Russian (ÏÌÌ): | | 9713
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| In English (J. Appl. Math. Mech.): | | 799 |
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| S.A. Reshmin, "The decomposition method for a control problem for an underactuated Lagrangian system," J. Appl. Math. Mech. 74 (1), 108-121 (2010) |
| Year |
2010 |
Volume |
74 |
Issue |
1 |
Pages |
108-121 |
| Title |
The decomposition method for a control problem for an underactuated Lagrangian system |
| Author(s) |
S.A. Reshmin (Moscow, Russia, reshmin@ipmnet.ru) |
| Abstract |
The control problem for an underactuated Lagrangian system is considered. A system of smooth non-linear functions of the generalized coordinates is introduced into the treatment and the number of functions is equal to the number of generalized control forces. The aim of the control is to bring the system in a finite time to a terminal set specified by the level lines of the selected functions, and it is required that the motion at the terminal instant occurs along the level lines. As a result, a development and extension of Chernous’ko's decomposition method is given. This method was proposed for designing feedback control for Lagrangian systems when the number of controls in a system is equal to the number of its degrees of freedom. |
| Received |
24 April 2009 |
| Link to Fulltext |
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