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Showing 1 to 14 of 14 for “"Lyapunov Theory"”.
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Robust stabilization of linear time-invariant uncertain systems via Lyapunov theory
… is an n x n matrix and B̅(γ) is an n x m matrix. Lyapunov theory is exploited to establish the conditions for stabilizability of the closed loop system. We consider a Lyapunov function with an uncertain symmetric positive definite matrix P. The uncertain matrix P satisfies the Lyapunov equation …
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Semidefinite programming approaches to multi-contact feedback control
… to design stabilizing controllers according to Lyapunov theory. Second the system is modelled as a discrete-time piecewise polynomial system and we use sums-of-squares programming to design feedback controllers. Third the system is modelled as a discrete-time polynomial system with linear …
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Non-monotonic Lyapunov functions for stability of nonlinear and switched systems : theory and computation
Lyapunov's direct method, which is based on the existence of a scalar function of the state that decreases monotonically along trajectories, still serves as the primary tool for establishing stability of nonlinear systems. Since the main challenge in stability analysis based on Lyapunov theory is …
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Adaptive control of flexible joint robot manipulators: A singular perturbation approach
… algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter …
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Analysis and Design of Hybrid Control Systems
… A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode …
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The analysis and control of nonlinear systems using Lyapunov stability theory
Techniques based on Lyapunov theory for the stability analysis and control of nonlinear systems are developed. In the first part of this work, procedures for determining conditions of guaranteed asymptotic stability are developed for nonlinear, uncontrolled systems. A second order model of an …
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Visual servo control on a humanoid robot
… and proposes two new visual servoing laws. Lyapunov theory is used first to prove the stability and convergence of the visual closed loop, then to derive a robust adaptive controller for the combined robot-vision dynamics, yielding thus an ultimate uniform bounded solution. Finally, all …
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Nonlinear Control and Robust Observer Design for Marine Vehicles
… on-line adaptive law are derived using the Lyapunov theory, and the convergence of the tracking error to zero and the boundedness of signals are guaranteed. Comparison of the results with different neural network architectures is made, and performance of the controller is demonstrated by …
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Krylov subspace estimation
… problems. This is accomplished by developing a Lyapunov theory for infinite-dimensional linear systems whose states are elements in a Hilbert space. Two theorems, proved in this thesis, provide sufficient conditions for the state trajectories to converge either strongly or weakly to 0. This …
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Improving Leader-Follower Formation Control Performance for Quadrotors
… Backstepping (IBS) controller, were based on Lyapunov theory. The H_infinity controller was developed with consideration of external disturbance and model parameter uncertainties. These two controllers were compared for path tracking and leader-follower team formation control. The third …
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Scheduling in switched queueing networks with heavy-tailed trac
… trac. Classical results from queueing theory imply that heavy-tailed queues are delay unstable under any policy, so we focus on the potential impact of heavy tails on light-tailed queues. The main insight derived from this thesis is that the Max-Weight policy performs poorly in the …
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Optimal control for wireless networks
… UMW policy combines techniques from stochastic Lyapunov theory with a sample path argument from adversarial queueing theory and may be of independent theoretical interest.
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Monitoring and Fault Diagnosis for Chylla-Haase Polymerization Reactor
… and a stable learning scheme is derived using Lyapunov theory. Simulation studies are used to illustrate the results and to show the effectiveness of the fault diagnosis methodology. Finally, the success of the proposed fault diagnosis methods illustrates the potential of the application of an …
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Information spread in networks: games, optimal control, and stabilization
… strategies that makes connection to potential theory. Further, we provide a sufficient condition for the existence of a saddle-point equilibrium (SPE) for the underlying zero-sum game. In Attack-II, the designer and the adversary are both capable of altering the measurements of all nodes in the …