Control of Mechanical Systems

Abstract

In this chapter we study applied problems of nonlinear control and pre-specified spatial motion of multi-body mechanical systems, described by using the Newton, Euler and Lagrange equations. The presentation begins with investigation of a problem of a rigid body motion that requires to maintain a given trajectory of the center-point (a mass-point control problem) and, simultaneously, body orientation with respect to the trajectory. Such problems, having independent meaning for the design of control systems for satellites, aircrafts, submarines and other conditionally one-element plants, is the basis of further consideration of multi-body mechanical systems presented by multi-link manipulation robots and multi-drive wheeled mechanisms.