Control of Program Motion of Dynamic Systems Using Relative Motions

Abstract

In this paper, the problem of constructing one of the kind of program motion is discussed. The motion program is a set of conditions imposed on the behaviour of phase trajectories of the particles of the system, by which the positions and velocities of the system under consideration cannot be arbitrary. In other words, the system of program motion belongs to the systems with constrains. This means that it is possible to treat the program as a set of constraints that restrict the motion of the system, in the sense of analytical mechanics. In this paper, these cases are discussed. The passive control system is designed using only relative motion. For better results, an active control system can be used. However an instability of system could appear. In such case some methods of a feedback controller system using sensors can be used to achieve a stable controlled system.