Computer-aided solution of some problems relating to control of the complicated mechanical systems

Abstract

Consideration was given to control of a complex object whose motion obeys a multivariable nonlinear nonstationary mathematical model. Rigid constraints were imposed on the object's dynamic precision. The paper considered computer-aided generation of the current equations of object motion with regard for the actuators which differ from subsystem to subsystem. The object is controlled adaptively with regard for the computer-based realization. The algorithms of control system operation that maintain the guaranteed precision of object motion were constructed. Conditions for problem solvability were formulated. The freeflying space robot was discussed by way of example.