中文摘要：

建立了绳系单体系统的非线性动力学模型，分析了弱非线性条件下受控系统的稳定性。设计了一实验系统并对绳系单体系统的面内运动进行了定位控制研究。实验结果表明，计入摩擦补偿的线性力反馈控制可以有效抑制原非线性系统的面内运动。

英文摘要：

The equations of in-plane and out-of-plane motions of the tethered-payload system with driven belt having mass are derived by using the Newtonian law. Control is assumed to be provided only by modulating the driven force level in the drive mass as a function of the difference between actual and commanded position, position rate, in-plane swing angle and swing angle rate. Necessary and sufficient conditions for stability of the linear system motion in the vicinity of its nominal equilibrium position are developed. The experimental study of the in-plane controlled motion with friction complement is presented in detail. The effectiveness of the proposed control has been confirmed by the experiment.