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Опубліковано: 15 червня 2024

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Статті в журналах з теми "Lyapunov-based approach":

Hoang, H., F. Couenne, C. Jallut, and Y. Le Gorrec. "Thermodynamic approach for Lyapunov based control." IFAC Proceedings Volumes 42, no. 11 (2009): 357–62. http://dx.doi.org/10.3182/20090712-4-tr-2008.00056.

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Dixon, W. E., E. Zergeroglu, D. M. Dawson, and B. T. Costic. "Repetitive learning control: a Lyapunov-based approach." IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics) 32, no. 4 (August 2002): 538–45. http://dx.doi.org/10.1109/tsmcb.2002.1018772.

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Kansha, Yasuki, Li Jia, and Min-Sen Chiu. "Self-tuning PID controllers based on the Lyapunov approach." Chemical Engineering Science 63, no. 10 (May 2008): 2732–40. http://dx.doi.org/10.1016/j.ces.2008.02.026.

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Senthilkumar, L., M. Meenakshi, and J. Vasantha Kumar. "Lyapunov Optimization Based Cross Layer Approach for Green Cellular Network." Journal of Green Engineering 5, no. 2 (2016): 129–50. http://dx.doi.org/10.13052/jge1904-4720.523.

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Margaliot, Michael, and Gideon Langholz. "Fuzzy Lyapunov-based approach to the design of fuzzy controllers." Fuzzy Sets and Systems 106, no. 1 (August 1999): 49–59. http://dx.doi.org/10.1016/s0165-0114(98)00356-x.

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Hoang, N. Ha, Denis Dochain, and Nicolas Hudon. "A thermodynamic approach towards Lyapunov based control of reaction rate." IFAC Proceedings Volumes 47, no. 3 (2014): 9117–22. http://dx.doi.org/10.3182/20140824-6-za-1003.01958.

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Mutlu, Ilhan, Frank Schrödel, Naim Bajcinca, Dirk Abel, and M. Turan Söylemez. "Lyapunov Equation Based Stability Mapping Approach: A MIMO Case Study." IFAC-PapersOnLine 49, no. 9 (2016): 130–35. http://dx.doi.org/10.1016/j.ifacol.2016.07.512.

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Abdelmalek, Ibtissem, Noureddine Goléa, and Mohamed Hadjili. "A New Fuzzy Lyapunov Approach to Non-Quadratic Stabilization of Takagi-Sugeno Fuzzy Models." International Journal of Applied Mathematics and Computer Science 17, no. 1 (March 1, 2007): 39–51. http://dx.doi.org/10.2478/v10006-007-0005-4.

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A New Fuzzy Lyapunov Approach to Non-Quadratic Stabilization of Takagi-Sugeno Fuzzy ModelsIn this paper, new non-quadratic stability conditions are derived based on the parallel distributed compensation scheme to stabilize Takagi-Sugeno (T-S) fuzzy systems. We use a non-quadratic Lyapunov function as a fuzzy mixture of multiple quadratic Lyapunov functions. The quadratic Lyapunov functions share the same membership functions with the T-S fuzzy model. The stability conditions we propose are less conservative and stabilize also fuzzy systems which do not admit a quadratic stabilization. The proposed approach is based on two assumptions. The first one relates to a proportional relation between multiple Lyapunov functions and the second one considers an upper bound to the time derivative of the premise membership functions. To illustrate the advantages of our proposal, four examples are given.

Kuzmych, Olena, Abdel Aitouche, Ahmed El Hajjaji, and Jerome Bosche. "Nonlinear control for a diesel engine: A CLF-based approach." International Journal of Applied Mathematics and Computer Science 24, no. 4 (December 1, 2014): 821–35. http://dx.doi.org/10.2478/amcs-2014-0061.

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Abstract In this paper, we propose a control Lyapunov function based on a nonlinear controller for a turbocharged diesel engine. A model-based approach is used which predicts the experimentally observed engine performance for a biodiesel. The basic idea is to develop an inverse optimal control and to employ a Lyapunov function in order to achieve good performances. The obtained controller gain guarantees the global convergence of the system and regulates the flows for the variable geometry turbocharger as well as exhaust gas recirculation systems in order to minimize the NOx emission and the smoke of a biodiesel engine. Simulation of the control performances based on professional software and experimental results show the effectiveness of this approach.

Masoumnezhad, Mojtaba, Maziar Rajabi, Amirahmad Chapnevis, Aleksei Dorofeev, Stanford Shateyi, Narges Shayegh Kargar, and Hassan Saberi Nik. "An Approach for the Global Stability of Mathematical Model of an Infectious Disease." Symmetry 12, no. 11 (October 27, 2020): 1778. http://dx.doi.org/10.3390/sym12111778.

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The global stability analysis for the mathematical model of an infectious disease is discussed here. The endemic equilibrium is shown to be globally stable by using a modification of the Volterra–Lyapunov matrix method. The basis of the method is the combination of Lyapunov functions and the Volterra–Lyapunov matrices. By reducing the dimensions of the matrices and under some conditions, we can easily show the global stability of the endemic equilibrium. To prove the stability based on Volterra–Lyapunov matrices, we use matrices with the symmetry properties (symmetric positive definite). The results developed in this paper can be applied in more complex systems with nonlinear incidence rates. Numerical simulations are presented to illustrate the analytical results.

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Дисертації з теми "Lyapunov-based approach":

Marinósson, Sigurour Freyr. "Stability analysis of nonlinear systems with linear programming a Lyapunov functions based approach /." [S.l.] : [s.n.], 2002. http://deposit.ddb.de/cgi-bin/dokserv?idn=982323697.

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Kojima, Chiaki. "Studies on Lyapunov stability and algebraic Riccati equation for linear discrete-time systems based on behavioral approach." 京都大学 (Kyoto University), 2007. http://hdl.handle.net/2433/135968.

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Armiyoon, Ali Reza. "Exploring yaw and roll dynamics of ground vehicles using TS fuzzy approach and a novel method for stability analysis based on Lyapunov exponents." Springer, 2015. http://hdl.handle.net/1993/31038.

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Vehicle yaw stabilization and rollover prevention are two key factors in safety of vehicles. Designing a controller that can address both of the above safety concerns is of interest. In addition, it is essential that the performance of such a controller is evaluated properly. This can be done using a proper stability analysis. The above research problem is challenging for two reasons. First, maintaining both of the objectives, yaw stabilization and rollover mitigation, is contradictory at some instances, specifically when the vehicle is close to the verge of wheel lift-off. Second, the complexity of the dynamics of vehicle systems, which mostly arises from tire dynamics, makes the problems of controller design and stability analysis more challenging. In this Ph.D. thesis, a novel method for stability analysis of dynamical systems using the concept of Lyapunov exponents is proposed. The proposed method for stability analysis does not have the limitations of the current methods, and more specifically, can identify boundaries of the whole stability regions of attractors in a dynamical system. Furthermore, this method is computationally efficient and can be applied to general forms of nonlinear systems. The proposed stability analysis scheme is applied to the closed loop systems of ground vehicles with T-S fuzzy controllers for the purpose of evaluating and comparing the performance of the systems. The T-S fuzzy controllers integrate yaw stabilization and rollover avoidance. The ground vehicles that are studied in this research consist of torsionally flexible and torsionally rigid vehicles, which have differences in their dynamics because of the torsional compliance in their frames. The torsional compliance plays an important role in the dynamics, specifically for long vehicles, leading to different rollover indexes in the front and rear axles of the vehicles. The T-S fuzzy controllers are capable of prioritizing the contradictory objectives, and capturing all the essential complexities of dynamics of the systems.
February 2016

Zekraoui, Salim. "Contrôle et estimation en temps fini de certaines classes d'EDP." Electronic Thesis or Diss., Centrale Lille Institut, 2023. http://www.theses.fr/2023CLIL0028.

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L'objectif principal de cette thèse est d'explorer et d'analyser les problèmes d'estimation et destabilisation non-asymptotique (en temps fini, fixe, et prescrit) de certaines classes de systèmes de dimensioninfinie, notamment les systèmes linéaires invariants en temps avec retards (ponctuels ou distribués) d'entrée oude sortie et les équations aux dérivées partielles (EDP) de type réaction-diffusion. Comme les résultats existantssur ces classes de systèmes sont peu nombreux, nous commençons par revoir les concepts et les résultats sur lesoutils non asymptotiques pour les systèmes de dimension infinie. Ensuite, nous étendons ces outils pour les systèmesde dimension infinie. Dans ce contexte, nous commençons par le problème de compensation, en temps fini/fixe,des retards d'entrée et de sortie pour les systèmes LTI en utilisant la méthode du backstepping pour les EDP(avec des transformations inversibles non-linéaires et/ou variant en temps). Pour appliquer cette approche, nousreformulons le système considéré en une cascade de système EDO-EDP où la partie EDP est une équation detransport hyperbolique qui modélise l'effet du retard sur l'entrée/sortie. Ensuite, nous traitons le problème dela stabilisation frontière en temps fini/fixe d'une classe des EDP de réaction-diffusion. À notre connaissance,ce problème est resté ouvert dans la littérature pendant une période considérable. Nous abordons ce problèmecomplexe à l'aide de méthodes classiques liées aux Fonctions de Lyapunov de Contrôle (CLF). Nous donnonsquelques indications sur l'extension de cette approche au problème de stabilisation entrée-état (ISS) et au problèmedu suivi en temps fini/fixe pour les EDP de réaction-diffusion. Nous soulignons les limitations de notre méthodepour la conception des observateurs. Enfin, nous abordons le problème de la compensation, en temps prescrit, desretards d'entrée des systèmes de réaction-diffusion par une commande par retour d'état basée sur un observateur enutilisant la méthode du backstepping pour les EDP. Ce problème est difficile, car il nécessite de traiter la conceptiondes observateurs et des contrôleurs avec des gains variant en temps qui tendent vers l'infini lorsque le temps serapproche du temps prescrit de convergence
This Ph.D. thesis is devoted to the problems of non-asymptotic (finite, fixed, prescribed-time) estimation and stabilization of some classes of infinite-dimensional systems, namely LTI systems subject to input/sensor (pointwise or distributed) delays and reaction-diffusion PDEs. As the existing results on these classes of systems are few, we begin by reviewing relevant concepts and results on non-asymptotic tools (including homogeneity-based tools and time-varying tools) for finite-dimensional systems. Afterward, we extend these tools to infinite-dimensional settings. Firstly, we start with the problem of input and sensor delay compensation in finite/fixed/prescribed time of LTI systems where we use the so-called backstepping approach for PDEs (with some nonlinear and/or time-varying invertible transformations). To apply this approach, we reformulate the considered LTI system into a cascade ODE-PDE system where the PDE part is a hyperbolic transport equation that models the effect of the delay on the input/output. Secondly, we consider the problem of boundary state-dependent finite/fixed-time stabilization of reaction-diffusion PDEs. To the best of our knowledge, this problem has remained open in the literature for a considerable long time. We tackle this challenging problem using classical methods related to Control Lyapunov functions. We provide some hints on how we to extend this approach to input-to-state stabilization and non-asymptotic tracking problem for reaction-diffusion PDEs. We point out the limitations of our approach to observer design. Finally, we tackle the problem of input delay compensation of reaction-diffusion systems in prescribed time by output feedback using the backstepping approach. This problem is challenging, as one deals with observer and control designs with some time-varying gains that go to infinity when the time gets closer to the prescribed time of convergence, which brings additional challenges and issues. Dealing with these challenges requires introducing novel infinite-dimensional time-varying backstepping transformations in conjunction with advanced predictor-based concepts adapted to parabolic PDEs

Khorrami, Farshad. "Asymptotic perturbation and Lyapunov stability based approaches for control of flexible and rigid robot manipulators /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487592050230916.

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Gasmi, Noussaiba. "Observation et commande d'une classe de systèmes non linéaires temps discret." Thesis, Université de Lorraine, 2018. http://www.theses.fr/2018LORR0177/document.

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L’analyse et la synthèse des systèmes dynamiques ont connu un développement important au cours des dernières décennies comme l’atteste le nombre considérable des travaux publiés dans ce domaine, et continuent d’être un axe de recherche régulièrement exploré. Si la plupart des travaux concernent les systèmes linéaires et non linéaires temps continu, peu de résultats ont étaient établis dans le cas temps discret. Les travaux de cette thèse portent sur l’observation et la commande d’une classe de systèmes non linéaires à temps discret. Dans un premier temps, le problème de synthèse d’observateur d’état utilisant une fenêtre de mesures glissante est abordé. Des conditions de stabilité et de robustesse moins restrictives sont déduites. Deux classes de systèmes non linéaires à temps discret sont étudiées : les systèmes de type Lipschitz et les systèmes « one-sided Lipschitz ». Ensuite, une approche duale a été explorée afin de déduire une loi de commande stabilisante basée sur un observateur. Les conditions d’existence d’un observateur et d’un contrôleur stabilisant les systèmes étudiés sont formulées sous forme d’un problème d’optimisation LMI. L’efficacité et la validité des approches présentées sont montrées à travers des exemples académiques
The analysis and synthesis of dynamic systems has undergone significant development in recent decades, as illustrated by the considerable number of published works in this field, and continue to be a research theme regularly explored. While most of the existing work concerns linear and nonlinear continuous-time systems, few results have been established in the discrete-time case. This thesis deals with the observation and control of a class of nonlinear discrete-time systems. First, the problem of state observer synthesis using a sliding window of measurements is discussed. Non-restrictive stability and robustness conditions are deduced. Two classes of discrete time nonlinear systems are studied: Lipschitz systems and one-side Lipschitz systems. Then, a dual approach was explored to derive a stabilizing control law based on observer-based state feedback. The conditions for the existence of an observer and a controller stabilizing the studied classes of nonlinear systems are expressed in term of LMI. The effectiveness and validity of the proposed approaches are shown through numerical examples

Gasmi, Noussaiba. "Observation et commande d'une classe de systèmes non linéaires temps discret." Electronic Thesis or Diss., Université de Lorraine, 2018. http://www.theses.fr/2018LORR0177.

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Jo, Jang Hyen. "On the lyapunov-based approach to robustness bounds." Thesis, 1991. http://hdl.handle.net/1957/37156.

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The objective of this investigation is the development of improved techniques for the estimation of robustness for dynamic systems with structured uncertainties, a problem which was approached by application of the Lyapunov direct method. This thesis considers the sign properties of the Lyapunov function derivative integrated along finite intervals of time, in place of the traditional method of the sign properties of the derivative itself. This proposed approach relaxes the sufficient conditions of stability, and is used to generate techniques for the robust design of control systems with structured perturbations. The need for such techniques has been demonstrated by recent research interest in the area of robust control design. The system considered is assumed to be nominally linear, with time-variant, nonlinear bounded perturbations. Application of the proposed technique warrants that estimates of robustness will either match or constitute an improvement upon those obtained by application of the traditional Lyapunov approach. The application of numerical procedures are used to demonstrate improvements in estimations of robustness for two-, three- and four-dimensional dynamic systems with one or more structured perturbations. The proposed numerical approaches obtain improved bounds, which are considered in the sense of their engineering aspects. To increase the accuracy of the numerical procedures, symbolic algebraic calculations are utilized.
Graduation date: 1991

Mongkolcheep, Kathira. "A Lyapunov Exponent Approach for Identifying Chaotic Behavior in a Finite Element Based Drillstring Vibration Model." 2009. http://hdl.handle.net/1969.1/ETD-TAMU-2009-08-3271.

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The purpose of this work is to present a methodology to predict vibrations of drilllstrings for oil recovery service. The work extends a previous model of the drill collar between two stabilizers in the literature to include drill collar flexibility utilizing a modal coordinate condensed, finite element approach. The stiffness due to the gravitational forces along the drillstring axis is included. The model also includes the nonlinear effects of drillstring-wellbore contact, friction and quadratic damping. Bifurcation diagrams are presented to illustrate the effects of speed, friction at wellbore, stabilizer clearance and drill collar length on chaotic vibration response. Their effects shifts resonance peaks away from the linear natural frequency values and influences the onset speed for chaos. A study is conducted on factors for improving the accuracy of Lyapunov Exponents to predict the presence of chaos. This study considers the length of time to steady state, the number and duration of linearization sub-intervals, the presence of rigid body modes and the number of finite elements and modal coordinates. The Poincare map and frequency spectrum are utilized to confirm the prediction of Lyapunov exponent analysis. The results may be helpful for computing Lyapunov exponents of other types of nonlinear vibrating systems with many degrees of freedom. Vibration response predictions may assist drilling rig operators in changing a variety of controlled parameters to improve operation procedures and/or equipment.

[Verfasser], Sigurður Freyr Marinósson. "Stability analysis of nonlinear systems with linear programming : a Lyapunov functions based approach / von Sigurður Freyr Marinósson." 2002. http://d-nb.info/982323697/34.

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Книги з теми "Lyapunov-based approach":

name, No. Nonlinear control of engineering systems: A Lyapunov-based approach. Boston, MA: Birkhauser, 2003.

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Nikravesh, Seyed Kamaleddin Yadavar. Nonlinear Systems Stability Analysis: Lyapunov-Based Approach. Taylor & Francis Group, 2018.

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Nonlinear systems stability analysis : Lyapunov-based approach. CRC Press, 2013.

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Nikravesh, Seyed Kamaleddin Yadavar. Nonlinear Systems Stability Analysis: Lyapunov-Based Approach. Taylor & Francis Group, 2017.

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Nikravesh, Seyed Kamaleddin Yadavar. Nonlinear Systems Stability Analysis: Lyapunov-Based Approach. Taylor & Francis Group, 2018.

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Nikravesh, Seyed Kamaleddin Yadavar. Nonlinear Systems Stability Analysis: Lyapunov-Based Approach. Taylor & Francis Group, 2018.

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Nonlinear systems stability analysis : Lyapunov-based approach. CRC Press, 2013.

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Nikravesh, Seyed Kamaleddin Yadavar. Nonlinear Systems Stability Analysis: Lyapunov-Based Approach. Taylor & Francis Group, 2018.

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Jo, Jang Hyen. On the lyapunov-based approach to robustness bounds. 1991.

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Jo, Jang Hyen. On the lyapunov-based approach to robustness bounds. 1991.

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Частини книг з теми "Lyapunov-based approach":

Saldivar Márquez, Martha Belem, Islam Boussaada, Hugues Mounier, and Silviu-Iulian Niculescu. "Stick-Slip Control: Lyapunov-Based Approach." In Analysis and Control of Oilwell Drilling Vibrations, 179–98. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-15747-4_11.

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Das Sharma, Kaushik, Amitava Chatterjee, and Anjan Rakshit. "Fuzzy Controller Design II: Lyapunov Strategy-Based Adaptive Approach." In Cognitive Intelligence and Robotics, 79–100. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-1298-4_4.

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Boukili, Yassine, A. Pedro Aguiar, and Adriano Carvalho. "Direct Power Control of a Doubly Fed Induction Generator Using a Lyapunov Based State Space Approach." In Lecture Notes in Electrical Engineering, 628–37. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58653-9_60.

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Liu, Le, Aleksandra Lekić, and Marjan Popov. "Robust Adaptive Back-Stepping Control Approach Using Quadratic Lyapunov Functions for MMC-Based HVDC Digital Twins." In Lecture Notes in Computer Science, 126–38. Cham: Springer Nature Switzerland, 2022. http://dx.doi.org/10.1007/978-3-031-19762-8_9.

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Puzyrov, Volodymyr, Nataliya Losyeva, Nina Savchenko, Oksana Nikolaieva, and Olga Chashechnikova. "Lyapunov Function-Based Approach to Estimate Attractors for a Dynamical System with the Polynomial Right Side." In Lecture Notes in Mechanical Engineering, 482–94. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-16651-8_46.

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Yang, Zhengfeng, Li Zhang, Xia Zeng, Xiaochao Tang, Chao Peng, and Zhenbing Zeng. "Hybrid Controller Synthesis for Nonlinear Systems Subject to Reach-Avoid Constraints." In Computer Aided Verification, 304–25. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-37706-8_16.

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AbstractThere is a pressing need for learning controllers to endow systems with properties of safety and goal-reaching, which are crucial for many safety-critical systems. Reinforcement learning (RL) has been deployed successfully to synthesize controllers from user-defined reward functions encoding desired system requirements. However, it remains a significant challenge in synthesizing provably correct controllers with safety and goal-reaching requirements. To address this issue, we try to design a special hybrid polynomial-DNN controller which is easy to verify without losing its expressiveness and flexibility. This paper proposes a novel method to synthesize such a hybrid controller based on RL, low-degree polynomial fitting and knowledge distillation. It also gives a computational approach, by building and solving a constrained optimization problem coming from verification conditions to produce barrier certificates and Lyapunov-like functions, which can guarantee every trajectory from the initial set of the system with the resulted controller satisfies the given safety and goal-reaching requirements. We evaluate the proposed hybrid controller synthesis method on a set of benchmark examples, including several high-dimensional systems. The results validate the effectiveness and applicability of our approach.

Liu, J., D. Muñoz de la Peña, and P. D. Christofides. "Lyapunov-Based Distributed MPC Schemes: Sequential and Iterative Approaches." In Intelligent Systems, Control and Automation: Science and Engineering, 479–94. Dordrecht: Springer Netherlands, 2013. http://dx.doi.org/10.1007/978-94-007-7006-5_30.

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Panagou, Dimitra, Dušan M. Stipanović, and Petros G. Voulgaris. "Distributed Control of Robot Swarms." In Robotic Systems, 1450–88. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch070.

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This chapter considers the problem of multi-agent coordination and control under multiple objectives, and presents a set-theoretic formulation which is amenable to Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier functions is introduced and used to encode multiple control objectives, such as collision avoidance, proximity maintenance and convergence to desired destinations. The construction is based on recentered barrier functions and on maximum approximation functions. Thus, a single Lyapunov-like function is used to encode the constrained set of each agent, yielding simple, gradient-based control solutions. The derived control strategies are distributed, i.e., based on information locally available to each agent, which is dictated by sensing and communication limitations. The proposed coordination protocol dictates semi-cooperative conflict resolution among agents, as well as conflict resolution with respect to an agent (the leader) which is not actively participating in collision avoidance, except when necessary. The considered scenario is pertinent to surveillance tasks and involves nonholonomic vehicles. The efficacy of the approach is demonstrated through simulation results.

Khettab, Khatir, and Yassine Bensafia. "An Adaptive Interval Type-2 Fuzzy Sliding Mode Control Scheme for Fractional Chaotic Systems Synchronization With Chattering Elimination." In Advanced Synchronization Control and Bifurcation of Chaotic Fractional-Order Systems, 99–128. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-5418-9.ch004.

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This chapter presents a fractional adaptive interval type-2 fuzzy logic control strategy based on active fractional sliding mode controller (FAIT2FSMC) to synchronize tow chaotic fractional-order systems. The interval type-2 fuzzy logic systems (IT2FLS) are used to approximate the plant dynamics represented by unknown functions of the system, and the IT2F adaptation law adjusts the consequent parameters of the rules based on a Lyapunov synthesis approach. One of the main contributions in this work is the use of an IT2F and an adaptive fractional order PIλ control law to eliminate the chattering action in the control signal. Based on fractional order Lyapunov stability criterion, stability analysis is performed for the proposed method for an acceptable synchronization error level. The performance of the proposed scheme is demonstrated through the synchronization of two different fractional order chaotic gyro systems. Simulations are implemented using a numerical method based on Grünwald-Letnikov approach to solve the fractional differential equations.

Zhu, Yang, and Miroslav Krstic. "Single-Input Systems with Full Relative Degree." In Delay-Adaptive Linear Control, 58–83. Princeton University Press, 2020. http://dx.doi.org/10.23943/princeton/9780691202549.003.0004.

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This chapter analyzes single-input systems with full relative degree. The primary approach is based on the adaptive backstepping control with Kreisselmeier-filters. In output-feedback adaptive problems, the relative degree plays a major role in determining the difficulty of a problem. The chapter focuses on a special class of LTI systems with its relative degree being equal to its system dimension. Moreover, in this chapter the actuator state is assumed to be measured. The chapter also presents a combination of prediction-based boundary control with adaptive backstepping to address unknown parameters and time delay. It then develops two Lyapunov-based identifiers to estimate unknown plant parameters and actuator time delay.

Тези доповідей конференцій з теми "Lyapunov-based approach":

Schrodel, Frank, Hong Liu, Ramy Elghandour, and Dirk Abel. "Lyapunov-based stability region computation approach." In 2015 European Control Conference (ECC). IEEE, 2015. http://dx.doi.org/10.1109/ecc.2015.7330995.

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Castillo, Ismael, Martin Steinberger, Leonid Fridman, Jaime A. Moreno, and Martin Horn. "Saturated Super-Twisting Algorithm: Lyapunov based approach." In 2016 14th International Workshop on Variable Structure Systems (VSS). IEEE, 2016. http://dx.doi.org/10.1109/vss.2016.7506928.

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Chih-Fu Chang and Li-Chen Fu. "A formation control framework based on Lyapunov approach." In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2008. http://dx.doi.org/10.1109/iros.2008.4651041.

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Abdollahpouri, M., A. Khaki-Sedigh, and A. Fatehi. "Lyapunov based multiple model predictive control: An LMI approach." In 2012 American Control Conference - ACC 2012. IEEE, 2012. http://dx.doi.org/10.1109/acc.2012.6314811.

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Noorbakhash, S. M., and A. Yazdizadeh. "A new approach for Lyapunov-based adaptive friction compensation." In 2009 IEEE International Conference on Control Applications (CCA). IEEE, 2009. http://dx.doi.org/10.1109/cca.2009.5281025.

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Zhang, J. R., S. J. Xu, and A. Rachid. "Path tracking control of vehicles based on Lyapunov approach." In Proceedings of 2002 American Control Conference. IEEE, 2002. http://dx.doi.org/10.1109/acc.2002.1023952.

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Chang, Samuel Y., Christopher R. Carlson, and J. Christian Gerdes. "A Lyapunov Function Approach to Energy Based Model Reduction." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24545.

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Abstract Model reduction based upon the idea of eliminating coordinates with low levels of associated power, energy or activity has been proposed by a number of researchers. None of these results, however, produce the sort of computable bounds on the neglected dynamics that would be useful in the design of controllers with guaranteed robustness properties. This paper outlines an approach to model reduction based upon Lyapunov functions that represent a modified version of the system energy of Lagrangian subsystems. The Lyapunov functions are used to bound the states of subsystems to be removed, enabling these states to be treated as time-varying perturbations in a simplified set of dynamic equations. In contrast to other results in energy-based model reduction, this approach provides bounds on the disturbances caused by the unmodeled dynamics though at the cost of the implementation ease associated with other methods.

ZHOU, CHANGJIU, PIK KONG YUE, and HONG LIAN SNG. "TOWARD PERCEPTION-BASED ROBOTICS: A FUZYY-ARITHMETIC-BASED LYAPUNOV SYNTHESIS APPROACH." In Proceedings of the 5th International FLINS Conference. WORLD SCIENTIFIC, 2002. http://dx.doi.org/10.1142/9789812777102_0057.

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Zhang, Yan, Han Zhao, Mingming Qiu, and Feifei Qin. "Robust Control of PMSM Speed Synchronization Based on Lyapunov Approach." In 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). IEEE, 2019. http://dx.doi.org/10.1109/icarm.2019.8833954.

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Li, Xian Hong, Hai Bin Yu, and Min Zhe Yuan. "Design of an Optimal PID Controller Based on Lyapunov Approach." In 2009 International Conference on Information Engineering and Computer Science. IEEE, 2009. http://dx.doi.org/10.1109/iciecs.2009.5365172.

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Звіти організацій з теми "Lyapunov-based approach":

Dixon, Warren. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach. Office of Scientific and Technical Information (OSTI), June 2002. http://dx.doi.org/10.2172/835391.

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Chitrakaran, V. K., D. M. Dawson, J. Chen, and W. E. Dixon. Euclidean Position Estimation if Features on a Moving Object Using a Single Camera: A Lyapunov-Based Approach. Fort Belvoir, VA: Defense Technical Information Center, September 2004. http://dx.doi.org/10.21236/ada465810.

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Burks, Thomas F., Victor Alchanatis, and Warren Dixon. Enhancement of Sensing Technologies for Selective Tree Fruit Identification and Targeting in Robotic Harvesting Systems. United States Department of Agriculture, October 2009. http://dx.doi.org/10.32747/2009.7591739.bard.

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The proposed project aims to enhance tree fruit identification and targeting for robotic harvesting through the selection of appropriate sensor technology, sensor fusion, and visual servo-control approaches. These technologies will be applicable for apple, orange and grapefruit harvest, although specific sensor wavelengths may vary. The primary challenges are fruit occlusion, light variability, peel color variation with maturity, range to target, and computational requirements of image processing algorithms. There are four major development tasks in original three-year proposed study. First, spectral characteristics in the VIS/NIR (0.4-1.0 micron) will be used in conjunction with thermal data to provide accurate and robust detection of fruit in the tree canopy. Hyper-spectral image pairs will be combined to provide automatic stereo matching for accurate 3D position. Secondly, VIS/NIR/FIR (0.4-15.0 micron) spectral sensor technology will be evaluated for potential in-field on-the-tree grading of surface defect, maturity and size for selective fruit harvest. Thirdly, new adaptive Lyapunov-basedHBVS (homography-based visual servo) methods to compensate for camera uncertainty, distortion effects, and provide range to target from a single camera will be developed, simulated, and implemented on a camera testbed to prove concept. HBVS methods coupled with imagespace navigation will be implemented to provide robust target tracking. And finally, harvesting test will be conducted on the developed technologies using the University of Florida harvesting manipulator test bed. During the course of the project it was determined that the second objective was overly ambitious for the project period and effort was directed toward the other objectives. The results reflect the synergistic efforts of the three principals. The USA team has focused on citrus based approaches while the Israeli counterpart has focused on apples. The USA team has improved visual servo control through the use of a statistical-based range estimate and homography. The results have been promising as long as the target is visible. In addition, the USA team has developed improved fruit detection algorithms that are robust under light variation and can localize fruit centers for partially occluded fruit. Additionally, algorithms have been developed to fuse thermal and visible spectrum image prior to segmentation in order to evaluate the potential improvements in fruit detection. Lastly, the USA team has developed a multispectral detection approach which demonstrated fruit detection levels above 90% of non-occluded fruit. The Israel team has focused on image registration and statistical based fruit detection with post-segmentation fusion. The results of all programs have shown significant progress with increased levels of fruit detection over prior art.