THE CONTROL OF THE ANGULAR MOTION OF A SOLID WITH INTERFERENCE - A GAME-THEORETIC APPROACH

A constructive method for control synthesis for the problem of the reorientation of an asymmetric solid is presented using a game-theoretic model of interference. Prescribed ''geometric constraints'' on the control functions are taken into account. The method is based on a choice of the structural form of control rules that enables the solution of the original non-linear problem to be reduced to solving auxiliary linear game-theoretic problems. The non-linear control rules obtained in this way are robust (stable) and ensure that the body arrives at the prescribed state in a finite time, which can be computed within the framework of the proposed solution scheme starting from the time-optimization requirement. A method of estimating the guaranteed minimum reorientation time is given. The results of a computer simulation are presented.