Stability analysis and synthesis of stabilizing controls for a class of nonlinear mechanical systems

被引:7
作者
Aleksandrov, A. Yu [1 ]
机构
[1] St Petersburg State Univ, 7-9 Univ Skaya Nab, St Petersburg 199034, Russia
基金
俄罗斯基础研究基金会;
关键词
Nonlinear mechanical system; Asymptotic stability; Lyapunov function; Decomposition; Delay; Stabilization; ASYMPTOTIC STABILITY; BOUNDEDNESS; DYNAMICS; EQUATION;
D O I
10.1007/s11071-020-05709-0
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper is concerned with the problems of stability and stabilization for a class of nonlinear mechanical systems. It is assumed that considered systems are under the action of linear gyroscopic forces, nonlinear homogeneous positional forces and nonlinear homogeneous dissipative forces of positional-viscous friction. An approach to strict Lyapunov functions construction for such systems is proposed. With the aid of these functions, sufficient conditions of the asymptotic stability and estimates of the convergence rate of solutions are found. Moreover, systems with delay in the positional forces are studied, and new delay-independent stability conditions are derived. The obtained results are used for developing new approaches to the synthesis of stabilizing controls with delay in feedback law.
引用
收藏
页码:3109 / 3119
页数:11
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