Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 55 for “"Lyapunov stability"”.
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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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Enhancement of lateral stability of car-trailer systems using model-reference adaptive control
… curved-path negotiations and display low lateral stability under high-speed evasive maneuvers. Therefore, the objective of this thesis is to design a Lyapunov-Stability-based Model Reference Adaptive Controller (MRAC) for an active trailer steering system to enhance the lateral stability of CT …
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An application of Gaussian radial based function neural networks for the control of a nonlinear multi link robotic manipulator
… stable adaptive weight training law founded upon Lyapunov stability theory. This is applied to the control of a nonlinear multi-linked robotic manipulator for the general case of N links. Simulations of a two link system are performed and demonstrate the derived principles.
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Nonholonomic Control Utilizing Kinematic Constraints of Differential and Ackermann Steering Based Platforms
… and the restrictions are accounted for using Lyapunov stability criteria. This stage of work is validated through simulation and experimentation. Following the development of differential drive methods, similar techniques are applied to Ackermann steering kinematic constraints. An additional …
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Stability results for constrained dynamical systems
… purpose of this dissertation is to investigate stability properties of two important classes of DAEs. We consider some special cases of Linear Time Invariant (LTI) DAEs with control inputs and outputs, and also a special class of Linear switched DAEs. In the first part of the thesis, we consider …
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Stability of non-diagonalizable switched linear systems on time scales.
This thesis investigates the stability of switched linear systems on time scales using Lyapunov stability theory. First, we focus on the most general case, nondiagonalizable systems with arbitrary switching. Subsequently, a constrained switching case is investigated. Several examples are given for …
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Spacecraft Attitude Tracking Control
… feedback tracking control law, derived from Lyapunov stability and control theory, to provide the control torques for target tracking. The controller makes the body frame asymptotically track the reference motion when there are initial errors in the attitude and angular velocity. A spacecraft …
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Robust adaptive control of uncertain nonlinear systems
… The results are derived based on rigorous Lyapunov stability analysis. The control performance of the closed-loop systems is explicitly analyzed. Decoupled backstepping is utilized for practical controller design, which aims at seeking the boundedness of the states rather than the …
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Backstepping Control and Transformation of Multi-Input Multi-Output Affine Nonlinear Systems into a Strict Feedback Form
… using backstepping control approaches based on Lyapunov stability and integrator backstepping theory to be applied. The geometrical coordinate transformation of multi-input multi-output affine nonlinear systems into strict feedback form has not been detailed in previous publications. In this …
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Multiple Uncertain Robot Manipulator Control for a Modular System
… dynamics. This thesis also provides extensive Lyapunov stability analysis and simulation results of the designed controller case by case. Specifically, control design of the modular system is shown in the absence of anomalies (i.e., non-linear unknown terms, robot-based uncertainties, and …
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Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements
… responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is …
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Accelerated algorithms for constrained optimization and control
… properties. Theoretical guarantees pertaining to stability are also provided for time-varying regressors. These theoretical propositions are validated by applying them to several categories of optimization problems, in the form of academic examples, power flow optimization and neural network …
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Cooperative control of multi-agent systems with time-delays
… and a feasible solution to the LMI based on the Lyapunov stability theory is derived. The model uncertainty term is included in the control design by using a matrix factorization method. The second one is Cooperative Control for Multiple Agents with Time Varying Delay and Model Uncertainties, in …
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Adaptive Control Allocation for Unmanned Aerial Vehicles with Model Uncertainties
… and unknown center of gravity. Specifically, Lyapunov Stability analysis is provided to prove closed-loop system stability. Simulation results on a multi-rotor mathematical model are presented with effector degradation and model uncertainties (unknown center of gravity position) to show the …
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Optimization based control design techniques for distributed parameter systems
… for unknown parameters in the system. The Lyapunov stability theory is used to derive an update law of these parameters. The estimator is used to design an adaptive controller for the system. A second control technique is presented for a class of second order systems that are actuated …
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Analyzing physical system interaction
… This thesis considers the problem of contact instability and provides a framework to analyze physical system interaction and provides the first step in building a design synthesis method, i.e. finding a stability criterion. By posing interaction in terms of interconnected port functions such as …
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Modeling and Control of an Active Dihedral Fixed-Wing Unmanned Aircraft
… is often selected based on lateral-directional stability requirements for the vehicle. A study to predict the effect of an active dihedral system on lateral-directional stability and vertical gust rejection capability was conducted to assess the performance and feasibility of the system. …
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Adaptive Torque Control of a Novel 3D-Printed Humanoid Leg
… be estimated using adaptation laws derived from Lyapunov stability theory. The proposed control system consists of an outer-loop impedance controller to regulate deviations from the nominal trajectory in the presence of disturbances, and an inner-loop force controller to track the joint torques …
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Active Suppression ofAerofoil Flutter via Neural-Network-Based Adaptive Nonlinear Optimal Control
… NN tuning law, to guarantee the closed-loop stability for unstable and marginally stable systems. The resulting complexity is undesired in AFS applications due to computational concerns in real-time implementation. Moreover, the existing NOCOS methods are confined to locally nonlinear …
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Adaptive Control of VSCMGs for Satellite Attitude Tracking
… first order actuator dynamics are addressed. The Lyapunov stability analyses of these controllers are presented with simulation results. The thesis is organized as follows. Chapters 1 and 2 provide an introduction to the topic of spacecraft control with momentum management devices. The equations …
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