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 35 for “"lyapunov based"”.
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A Lyapunov-based small-gain theorem for interconnected switched systems
… defined to enable the construction of hybrid ISS Lyapunov functions. Apart from justifying the ISS property of their corresponding switched systems, these hybrid ISS Lyapunov functions are then combined to establish a Lyapunov-type small-gain condition which guarantees that the interconnected …
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Lyapunov-Based Robust and Adaptive Control Design for nonlinear Uncertain Systems
… disturbances. In Chapter 5, a neural-network based model-free controller is designed for an aeroelastic system operating at supersonic speed. The controller is shown to be able to effectively asymptotically stabilize the system via both a Lyapunov-based stability proof and numerical simulation …
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Design and control of a space based two link manipulator with Lyapunov based control laws
… control strategies were developed using Lyapunov's Second or Direct Method. With the first controller, simple linear feedback of position and velocity information with constant gains was used to position the manipulator and stabilize the main body. A fifth order polynomial was used to …
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A computationally efficient Lyapunov-based procedure for control of nonlinear systems with stability and performance guarantees
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1997.
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Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe
<p>A nonlinear vision-based guidance law is presented for a missile-target scenario in the presence of model uncertainty and unknown target evasive maneuvers. To ease the readability of this thesis, detailed explanations of any relevant mathematical tools are provided, including stability …
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Coupled Attitude And Orbital Control System Using Spacecraft Simulators
… control system is developed using a nonlinear Lyapunov attitude controller and a nonlinear Lyapunov-based orbital controller. A nonlinear Lyapunov attitude controller is presented for a spacecraft with three-axis momentum wheel control. The nonlinear Lyapunov-based orbital controller is …
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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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Smart control architecture for microgrid application
… connected inverter during its operation. Then a Lyapunov based control architecture is utilized and online parameter update scheme is used to optimize the controller performance. The second work discusses a Lyapunov based control architecture during a contingency that the grid voltage sensor …
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Hybrid Solutions for Mechatronics. Applications to modeling and controller design.
… rigorous introduction of the framework, several Lyapunov-based results were published in the literature, and numerous application areas were shown to benefit from the introduction of a hybrid dynamics, like systems involving impacts or physical systems connected to digital controllers …
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Dynamic Neural Network-based Adaptive Inverse Optimal Control Design
… a Dynamical Neural Network (DNN) model based adaptive inverse optimal control design for a class of nonlinear systems. A DNN structure is developed and stabilized based on a control Lyapunov function (CLF). The CLF must satisfy the partial Hamilton Jacobi-Bellman (HJB) equation to solve …
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Learning Stabilizing Controllers for High-dimensional Unknown Systems and Networked Dynamical Systems
… To address the challenge, we develop (1) A Lyapunov-based guided exploration framework to learn stabilizing controllers for high-dimensional unknown systems; (2) A compositional neural certificate based on ISS (Input-to-State Stability) Lyapunov functions for finding decentralized …
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Adaptive Flight Control in the Presence of Input Constraints
… limits is extended to multi-input systems. The Lyapunov based stability analysis is presented. Finally, the resultant technique is applied to aircraft and missile longitudinal motion. Simulation results show satisfactory tracking of the states of modified reference system.
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Modeling and Slew-Maneuver Control of a Flexible Spacecraft
… for appropriately chosen system parameters. Lyapunov-based nonlinear feedback controllers are designed for the control of rigid-body motion while suppressing the lowest frequency vibrational mode. In case of large-angle maneuvers, these nonlinear controllers are shown to outperform the …
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Solar Sailing Adaptive Control Using Integral Concurrent Learning for Solar Flux Estimation
… reflectivity-controlled solar sail spacecraft. A Lyapunov-based control law along with integral concurrent learning is suggested to accomplish and prove global exponential tracking of the estimated parameters and states of interest, without satisfying the common persistence of excitation …
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Control Design for a Non-Minimum Phase Hypersonic Vehicle Model
… loop system is also shown to be stable through a Lyapunov based stability analysis.
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Adaptive Control of Micro Air Vehicles
… power. In this thesis we develop several Lyapunov-based model reference adaptive control (MRAC) schemes that are both simple and efficient with the MAV autopilot resources. Most notable are the L1 controllers that have all the benefits of traditional MRACs but have reduced high frequency …
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Practical Challenges in the Method of Controlled Lagrangians
… performance and induces limit cycles. A Lyapunov-based switching controller is proposed and successfully implemented to suppress the limit cycle oscillations. The Lyapunov-based controller switches between the energy shaping nonlinear controller, for states away from the equilibrium, and …
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A Lyapunov analysis of LRU
… (TTL) cache. In this thesis, we present a unique Lyapunov based proof for an asymptotically exact TTL approximation for the steady state distribution of our LRU Markov model. We further present ongoing theoretical extensions to other variants of LRU, as well as simulations that validate our model. …
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Nonlinear Dynamics Analysis and Control of Space Vehicles with Flexible Structures
… regulator is presented and compared with a Lyapunov-based control law that guarantees asymptotic stability. Conventional and adaptive sliding mode control laws are also presented to account for any uncertainties in the linearized system model. Full-order and reduced-order observers are …
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