Stabilization of mechanical system with holonomic servo constraints

Abstract

The proposed study is devoted to the derivation of the equation of disturbed motion of mechanical systems with releasing servoconstraints, in which the multipliers of the normal and tangential components of the servoconstraints reaction forces are taken as control parameters. A technique is proposed for determining the reaction forces of servoconstraints providing motion stabilization relative to the manifold determined by holonomic servoconstraints. As an example, the problem of a gyroscope in a gimbal mount with holonomic releasing servoconstraints is considered.