ISSN 1991-2927
 

ACP № 1 (59) 2020

Control With Saturation in Tracking Task for Mechanical Systems Subject to Delay

Daria Yuryevna Motorina, [e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it. ]D. Motorina

Control With Saturation in Tracking Task for Mechanical Systems Subject to Delay 19_3.pdf

The article deals with the task of tracking for mechanical system taking into account delay in the structure of feedback. It proves continuous law of control with saturation, which is an approximation of relay control. The approach is based on the use of Lyapunov vector-function with components in the form of vector norms. A mobile robot with three-roller wheel is considered in the article as an example.

Mechanical system, tracking task, control with saturation, delay, lyapunov vector-function, matrix norms, mobile robot with roller wheels.

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