Matrix analysis and applied linear algebra
Matrix analysis and applied linear algebra
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Sliding Mode Control in Engineering
Sliding Mode Control in Engineering
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The Pyatnitskii decomposition principle is used to stabilize the nominal motion of a controllable scleronomic holonomic mechanical system under the influence of a bounded perturbing force. We find conditions on the controlling force and the set of initial states that guarantee that the motion of this mechanical system occurs close to the nominal motion in such a way that deviations from nominal values lie inside given boundaries. The decomposition principle serves here as an instrument to ensure practical stability in the sense of La Salle and Lefshetz.