Abstract
A mechanical system whose dynamics can be described by Lagrange's equations of the second kind is considered. It is assumed that the kinetic energy matrix of the system is unknown and the system is subject to uncontrollable bounded external forces (such a situation occurs, for example, if the load carried by a manipulator remains unknown). A control law is constructed which enables the system to be transferred from an arbitrary initial state to a given final state in a finite time using a force of bounded modulus. In the algorithm proposed linear feedback is used with piecewise-constant coefficients: the coefficients increase as the system approaches the final state. The algorithm rests on the second Lyapunov method. The results of a numerical model of the dynamics of a double-link unit are presented.
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