Direct method for designing programmed control of nonlinear objects
Авторы: Voronov V.V., Druzhinin E.I.
Журнал: Journal of Computer and Systems Sciences International
Отчётный год: 2005
Аннотация: A new approach to forming the control for implementation of program routes in the state space of nonlinear dynamic objects is considered. A new direct method is based on solving two-point boundary problems for controlled linear systems and allows us to compute the necessary program control without referring to an a priori definition of the system motion trajectory that reduces the problem to the inverse problem of dynamics. The two-point boundary problem is resolvable due to the controllability of a pair of system states, the initial and the final ones. In the "route problem," the resolvability is based on the controllability of every pair of events of the program route assuming that this property is robust-the controllability is preserved in some route neighborhood. It is necessary that these conditions be met to ensure the construction of program control that implements the transition of the system from the initial state to the final one within the given tube of route performance accuracy.
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