Control of the Dynamics of a System with Differential Constraints

Abstract: We propose a method for solving the control problem of a system with allowance for the dynamics of actuation mechanisms. The aim of the control and kinematic properties of the system are determined by the holonomic and nonholonomic constraints imposed on the phase coordinates of the control plant. Control actions are generated with allowance for conditions for stabilizing the constraints in the numerical solution of the equations of the dynamics of a closed system. © 2019, Pleiades Publishing, Ltd.