Mathematical modeling of multilink system controlled motion

Laboratory facility for simulation of planar formation mock-up dynamics is developed at Zentrum für Angewandte Raumfahrttechnologie und Mikrogravitation (ZARM) in Bremen University (Germany) which is used for verification of motion control algorithms. Mathematical modeling results of motion control algorithms which provide formation motion near the given trajectory are obtained. Several configurations and ways of system elements interaction are considered. Dependence of system parameters vs. motion characteristics is investigated. Control accuracy research is conducted.