Control of mechanical systems under conditions of uncertainty and no quantitative information about the current state

摘要

For a black box of a mechanical nature, that is, an incompletely defined mechanical system, we consider the problem of its control under uncertainty from qualitative ("greater-smaller" coordinate or "faster-slower" velocity) rather than quantitative information, which does not define the extent to which the coordinate is greater or velocity is smaller. The kinetic energy is regarded as unknown, and only the domains of variation of the generalized forces and not their particular dependences on the state variable are given. Problems of this kind arise in control of robots, biomechanical analysis of locomotor activity, and so on.