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On a method for solving a local boundary problem for a nonlinear stationary system with perturbations in the class of piecewise constant controls
Author(s) -
Kvitko Alexander N.,
Maksina Alla M.,
Chistyakov Sergey V.
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4644
Subject(s) - piecewise , nonlinear system , mathematics , control theory (sociology) , constant function , constructive , constant (computer programming) , class (philosophy) , perturbation (astronomy) , computer science , mathematical analysis , control (management) , physics , process (computing) , quantum mechanics , artificial intelligence , programming language , operating system
Summary The wide class of nonlinear stationary systems of ordinary differential equations taking into account restrictions on control and external perturbation is considered. An algorithm for constructing a discrete control function that guarantees the transfer of the systems from the initial state to the origin and an arbitrary neighborhood of the origin is proposed. A constructive sufficient condition of the Kalman type, in which the specified translation is possible, is obtained. The problem of robot‐manipulator control is considered and its numerical simulation is carried out.