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Stability analysis and synthesis of stabilizing controls for a class of nonlinear mechanical systems

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Abstract

This paper is concerned with the problems of stability and stabilization for a class of nonlinear mechanical systems. It is assumed that considered systems are under the action of linear gyroscopic forces, nonlinear homogeneous positional forces and nonlinear homogeneous dissipative forces of positional–viscous friction. An approach to strict Lyapunov functions construction for such systems is proposed. With the aid of these functions, sufficient conditions of the asymptotic stability and estimates of the convergence rate of solutions are found. Moreover, systems with delay in the positional forces are studied, and new delay-independent stability conditions are derived. The obtained results are used for developing new approaches to the synthesis of stabilizing controls with delay in feedback law.

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Acknowledgements

The research was supported by the Russian Foundation for Basic Research (Grant No. 19-01-00146-a).

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  1. Saint Petersburg State University, 7-9 Universitetskaya nab., St. Petersburg, Russia, 199034

    A. Yu. Aleksandrov

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  1. A. Yu. Aleksandrov
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Correspondence to A. Yu. Aleksandrov.

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Aleksandrov, A.Y. Stability analysis and synthesis of stabilizing controls for a class of nonlinear mechanical systems. Nonlinear Dyn 100, 3109–3119 (2020). https://doi.org/10.1007/s11071-020-05709-0

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