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Lyapunov Approach (lyapunov + approach)

Distribution by Scientific Domains

Engineering	100%

Selected Abstracts

Stabilization of n integrators in cascade with bounded input with experimental application to a VTOL laboratory system

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 10 2010
G. Sanahuja
Abstract This paper presents a global stabilization of a chain of n integrators in cascade. The control strategy is obtained using the Lyapunov approach and separated saturation functions. Moreover, the stability analysis is obtained using the recurrence theorem. This generalized control law is designed in order to quickly implement it on a system, as choosing a degree n gives all conditions to have a stable system. Moreover, in the proposed controller the saturation function bound only one state. This allows us to easily tune the control parameters. Simulations and real-time experiments are presented for the VTOL platform represented as a chain of two and four integrators in cascade. Copyright © 2009 John Wiley & Sons, Ltd. [source]

A comparison of small gain versus Lyapunov type robust stability bounds

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 15 2001
Jie Chen
Abstract We address stability issues pertaining to perturbed linear time-invariant systems described by state space models. We show that for a class of highly structured uncertainties in the system matrix, a robust stability bound given by the complex structured singular value is less conservative than that obtained via Lyapunov approach. This result thus provides a counterpart to an earlier one pertaining to unstructured uncertainties, and serves to extend and support the statement that frequency domain small gain conditions may often be less conservative than those time domain criteria obtained using Lyapunov approach. Copyright © 2001 John Wiley & Sons, Ltd. [source]

Robust adaptive trajectory tracking independent of models for robotic manipulators

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 9 2001
Qijun Chen
This article proposes a robust adaptive trajectory control scheme for robotic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without the knowledge of the robotic dynamics and is simple in structure with a small computation. It can make the trajectory error convergent to an arbitrary small region. Lyapunov approach is used to analyze the stability and the robustness of this control scheme. Experiments on a two-link direct-drive robotic manipulator verify the validity of the proposed control scheme. © 2001 John Wiley & Sons, Inc. [source]

Adaptive exponential stabilization of mobile robots with unknown constant-input disturbance

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 6 2001
Weiguo Wu
This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbance. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order 0 to achieve exponential stability. Simulation results validate the theoretical analysis. © 2001 John Wiley & Sons, Inc. [source]

Stabilization of the inverted spherical pendulum via Lyapunov approach,

ASIAN JOURNAL OF CONTROL, Issue 6 2009
O. Octavio Gutiérrez F.
Abstract In this paper a nonlinear controller is presented for the stabilization of the spherical inverted pendulum system. The control strategy is based on the Lyapunov approach in conjunction with LaSalle's invariance principle. The proposed controller is able to bring the pendulum to the unstable upright equilibrium point with the position of the movable base at the origin. The obtained closed-loop system has a very large domain of attraction, that can be as large as desired, for any initial position of the pendulum which lies above the horizontal plane. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]

H, fuzzy static output feedback control of T-S fuzzy systems based on fuzzy Lyapunov approach

ASIAN JOURNAL OF CONTROL, Issue 1 2009
Xiao-Heng Chang
Abstract This paper is concerned with the problem of H, fuzzy static output feedback control for discrete-time Takagi-Sugeno (T-S) fuzzy systems, and new design methods are presented. By defining a fuzzy Lyapunov function, a new sufficient condition guaranteeing the H, performance of the T-S fuzzy systems is derived, and the condition is expressed by a set of linear matrix inequalities. In comparison with the existing literature, the proposed approach may provide more relaxed condition while ensuring better H, performance. The simulation results illustrate the effectiveness of the proposed approach. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society [source]