Decomposing algorithms for the motion control of nonlinear dynamic systems

Algorithms for the coordinated and autonomous motion control of a mechanica l system are synthesized. It is shown that, theoretically, algorithms that are synthesized dynamically decompose a nonlinear system into independent s ubsystems whose structure and parameters are assigned in the formulation of the synthesis problem. It is essential that the decomposition is performed in a natural way, by control functions that are generated by algorithms of a nonconventional structure rather than by compensating feedbacks. It is a lso shown that the synthesized algorithms provide for high-accuracy control and stability of the dynamic characteristics of the system under variation of its parameters.