in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...

This work presents the design of a reliable decentralized state feedback control for a class of uncertain interconnected polytopic continous systems. A model of failures in actuators is adopted which considers outages or partial degradation in independent actuators. The control is developed using the concept of guaranteed cost control and a new LMI characterization using polytopic Lyapunov func...

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...

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system, which is actually the ...

The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global Lyapunov function for the whole system,...

This paper studies the decentralized stabilization problem for an uncertain fuzzy large-scale system with time delays. The considered large-scale system is composed of several T-S fuzzy subsystems. The decentralized parallel distributed compensation PDC fuzzy control for each subsystem is designed to stabilize the whole system. Based on Lyapunov criterion, some sufficient conditions are propose...

In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time-varying sensory functions. The co...

In this paper, an adaptive fault-tolerant control scheme is extended to large-scale interconnected systems with actuator failures and external disturbances. Based on Lyapunov stability theory, a state feedback decentralized controller is designed to compensate for the fault and the disturbance effects, using the overlapping decomposition method. Applying the inclusion principle, the interconnec...

This paper presents the problem of decentralized robust control for discrete-time fuzzy bilinear interconnected large-scale system. Based on the Lyapunov criterion and the parallel distribute compensation (PDC) scheme, the sufficient conditions are derived to guarantee the robust stability of the overall fuzzy system via bilinear matrix inequalities (BMIs). The V-K iteration algorithm is employ...

the modeling investigation in this paper discusses the system level effects of a toxicant on a three species food chain system. in the models, we have assumed that the presence of top predator reduces the predatory ability of the intermediate predator. the stability analysis of the models is carried out and the sufficient conditions for the existence and extinction of the populations under the ...