Open AccessMODELING OF CONTROL PROCESSES, STABILITY AND STABILIZATION OF SYSTEMS WITH PROGRAM CONSTRAINTS
Author(s) -
Н.В. Абрамов,
R. G. Mukharlyamov
Publication year - 2011
Publication title -
vestnik samarskogo universiteta. estestvennonaučnaâ seriâ
Language(s) - English
Resource type - Journals
eISSN - 2712-8954
pISSN - 2541-7525
DOI - 10.18287/2541-7525-2011-17-2-130-140
Subject(s) - constraint (computer aided design) , stability (learning theory) , robotics , computer science , system dynamics , control (management) , control engineering , dynamics (music) , control theory (sociology) , mathematical optimization , mathematics , artificial intelligence , engineering , robot , mechanical engineering , machine learning , physics , acoustics
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