TASK OF CONTROL FOR MULTICHANNEL DYNAMIC SYSTEM OVER PIECEWISE SMOOTH TRAJECTORY
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