On stabilization of program motions of holonomic mechanical system

Consideration was given to stabilization of the program motion of a holonomic mechanical system. A methodology of designing a nonlinear control stabilizing the given set of program motions was proposed. It relies on the Lyapunov vector function and a comparison system which enables one to control the stabilization process. At that, the generated control is robust in variations of the system parameters and allows for the uncontrollable forces.

Presented by the member of Editorial Board: V. N. Tkhai