in this paper, a finite-time control scheme is presented for stabilization ofthe satellite chaotic attitude around its equilibrium point whenits attitude is confused by a disturbed torque. controllers and settling timeof stabilizaton are obtained, based on the lyapunov stability theoremand finite-time control scheme. this method is satisfied for any initial condition.numerical simulations are ...

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. Highgain control creates high-frequency oscillations that can excite unmodeled d...

In this paper, we are going to estimate the domain of attraction of tumor-free equilibrium points in a perturbed cancer tumor model describing the tumor-immune system competition dynamics. The proposed method is based on an optimization problem solution for a chosen Lyapunov function that can be casted in terms of Linear Matrix Inequalities constraint and Taylor expansion of nonlinear terms. We...

In this paper we propose a new procedure for construction of motor schema typically used in behaviour-based robotics. The procedure reverses the standard stability analysis approach by searching for a control function to fit a pre-defined Lyapunov function. In order to improve the applicability of this procedure, a new Second-Order extension to Lyapunov's Second Method is proposed, allowing a s...

In this paper, we propose a Lyapunov function design method using a difference approximation scheme and quantization of the Markov process. First, we approximate a Lyapunov equation by a Schrödinger-like equation. Second, we obtain sufficient conditions for a function to be a Lyapunov function. Then, we provide a Lyapunov function design procedure.

Stability analysis for fuzzy control of robot manipulators has been a serious challenging problem in literature. The theoretical difficulties are highly increased due to the complexity of both manipulator dynamics and fuzzy controller structure. This paper develops a novel robust fuzzy control approach for electrical robot manipulators using the direct method of Lyapunov. We pass analytical dif...

This paper presents some new propositions related to the fractional order h-difference operators, for case of general quadratic forms and polynomial type, which allow proving stability systems, by means discrete Lyapunov direct method, using functions, functions any positive integer order, respectively. Some examples are given illustrate these results.

In this paper we propose a numerical method for computing all Lyapunov coefficients of a discrete time dynamical system by spatial integration. The method extends an approach of Aston and Dellnitz (1999) who use a box approximation of an underlying ergodic measure and compute the first Lyapunov exponent from a spatial average of the norms of the Jacobian for the iterated map. In the hybrid meth...

This work addresses the visual tracking problem of robot manipulators with non-negligible dynamics using a fixed camera, when the camera-robot system parameters are uncertain. An adaptive strategy is developed for visual servoing systems based on the image-based look-and-move structure to allow the tracking of a 2D reference trajectory, without using image velocity measurements. The adaptive vi...

We analyze in this paper finite dimensional closed quantum systems in interaction with a laser field. The characteristic of the problem is that the interaction laser-system is modeled by a first order term (dipole coupling) and a second order term (polarisability coupling), that appear in the Hamiltonian of the Schrödinger equation. In order to determine the control, an implicit Lyapunov trajec...