On the construction of a control over the translational motion by the rotation of an eccentric flywheel

1Khoroshun, AS
1S.P. Timoshenko Institute of Mechanics of the NAS of Ukraine, Kyiv
Dopov. Nac. akad. nauk Ukr. 2018, 3:53-58
Section: Mechanics
Language: Russian

The underactuated mechanical system TORA is investigated. The explicit form of a control law for the eccentric flywheel rotation, which ensures the stabilization of the equilibrium position of TORA, is obtained.

Keywords: eccentric flywheel, equilibrium position, global asymptotic stability, underactuated mechanical system
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