ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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6
Issue
vol 60 / JUNE, 2017
Article
UDC 62.50

TASK OF CONTROL FOR MULTICHANNEL DYNAMIC SYSTEM OVER PIECEWISE SMOOTH TRAJECTORY

Y. A. Kapitanyuk
ITMO University; student


S. A. Chepinsky
ITMO University; Associate professor


Abstract. The problem of control over multichannel object motion along a piecewise smooth trajectory is solved. The control synthesis is based on a differential-geometric approach. Main results are presented as a task-oriented model of motion and a suitable nonlinear control algorithm.
Keywords: trajectory motion of multichannel objects, coordinate transformation method, synthesis of control