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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국전산응용수학회 Journal of applied mathematics & computing Journal of applied mathematics & computing 제14권 제1호
- 발행연도
- 2004.1
- 수록면
- 251 - 266 (16page)
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We consider a controlled nonlinear mechanical system described by the Lagrange equations. We determine the control forces $Q_1$ and the restrictions for the perturbations $Q_2$ acting on the mechanical system which allow to guarantee the asymptotic stability of the program motion of the system. We solve the problem of stabilization by the direct Lyapunov's method and the method of limiting functions and systems. In this case we can use the Lyapunov's functions having nonpositive derivatives. The following examples are considered: stabilization of program motions of mathematical pendulum with moving point of suspension and stabilization of program motions of rigid body with fixed point.
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