About Local Controllability of a Nonlinear Nonstationary System.

The paper presents an algorithm for constructing of synthesizing control function. This algorithm is sufficiently convenient for numerical implementation and a wide class of nonlinear nonstationary systems of ordinary differential equations, provide the passage from initial state into to origin coordinates. We obtain a constructive condition for the choice of initial state for which the passage is possible with regard of the constraints imposed on the control. We consider an problem of control of single manipulator, for which we carry numerical simulation. [ABSTRACT FROM AUTHOR]