Decomposition and suboptimal control in dynamic systems

Abstract

Abstract A non‐linear dynamic system subject to bounded control forces is considered. It is shown that under certain conditions the feedback control can be chosen in such a way that the system reaches the prescribed terminal state in finite time. This control is obtained through decomposition of the system into subsystems with one degree of freedom each and applying the approach of differential games. Explicit formulae for the bounded control forces and the time of motion are presented. The obtained control is robust and can cope with small disturbances and parameter variations. Applications to robot control are discussed. The obtained feedback control is compared with another one which does not take small non‐linearities and disturbances into account.