PRECISE CONTROL OF COMPLEX LAGRANGIAN SYSTEMS
Stanislav Zemlyakov, Dmitry Krivoruchko
This paper deals with the problem of decomposition and precise control by complex objects. Decomposition is based on concepts of an object technical controllability and model reference adaptive control. Precise accuracy is attained with the help of adaptive and optimal control. A space robotic module is considered as the example of a complex object. Computer simulation demon-strates good results.