Strict Lyapunov Functions for Model Reference Adaptive Control: Application to Lagrangian Systems
نویسندگان
چکیده
منابع مشابه
Construction of strict Lyapunov function for nonlinear parameterised perturbed systems
In this paper, global uniform exponential stability of perturbed dynamical systems is studied by using Lyapunov techniques. The system presents a perturbation term which is bounded by an integrable function with the assumption that the nominal system is globally uniformly exponentially stable. Some examples in dimensional two are given to illustrate the applicability of the main results.
متن کاملStrict Lyapunov functions for control of robot manipulators
AMract-We present a methodology based on the energy shaping framework to derive strict Lyapunov functions for a class of global regulators for robot manipulators. The class of controllers is described by control laws composed by the gradient of an artificial potential energy plus a linear velocity feedback. We provide explicit sufficient conditions on the artificial potential energy that allow ...
متن کاملStrict Lyapunov Functions for Generating Robust Oscillations in Nonlinear Systems
This paper deals with the problem of generating stable and robust oscillations in triangular nonlinear systems. The proposed method consists of two steps. First, a globally attractive oscillation is generated in a nominal second–order subsystem. Based on a partition of the state space and solving the Lyapunov equation on each part, a strict Lyapunov function is obtained that ensures exponential...
متن کاملStrict Lyapunov Functions for Feedforward Systems and Applications
For nona ne nonlinear feedforward systems classes of control Lyapunov functions are constructed. Explicit formulas are determined in an important particular case. As an application of this design, we prove that the bounded state feedbacks constructed induce the property of nonlinear disturbance-to-state L stability.
متن کاملconstruction of strict lyapunov function for nonlinear parameterised perturbed systems
in this paper, global uniform exponential stability of perturbed dynamical systemsis studied by using lyapunov techniques. the system presents a perturbation term which isbounded by an integrable function with the assumption that the nominal system is globallyuniformly exponentially stable. some examples in dimensional two are given to illustrate theapplicability of the main results.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2019
ISSN: 0018-9286,1558-2523,2334-3303
DOI: 10.1109/tac.2018.2874723