Stabilization of Programmed Motions of Constrained Mechanical Systems

Abstract

The problem of the stabilization of programmed trajectories of mechanical systems, taking the constraints on the values of generalized coordinates, velocities, and accelerations into account, is considered. The control is built using the backstepping method in combination with the use of logarithmic Lyapunov barrier functions. The stabilizing feedbacks obtained in this study, in contrast to similar known results, do not lead to an unlimited increase in the values of the control variables when the state variables of the system approach the boundary values. As an example, the problem of constructing and stabilizing the trajectory of the spatial motion of an underwater vehicle is considered.