Control of spatial motion relative to moving external objects

Authors:
I. V. Miroshnik;K. A. Sergeev
Affiliations:
State Institute of Information Technologies, Mechanics and Optics, Institute of Problems of Mechanical Engineering, St. Petersburg, Russia;State Institute of Information Technologies, Mechanics and Optics, Institute of Problems of Mechanical Engineering, St. Petersburg, Russia
Venue:
Automation and Remote Control
Year:
2005

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Abstract

Consideration was given to the control of spatial motion of dynamic (mechanical) systems with the desired trajectory defined in the coordinate system of an external moving object. New problem-oriented models of the trajectory motion and nonlinear control algorithms that are based on the differential-geometrical methods of the theory of nonlinear multivariable systems and intended to stabilize the system relative to the nonstationary trajectory were obtained.