Modified Kohonen RuleLyapunov Adaptation LawDevelopment of adaptive control system for over its history has a great number of approaches. A crucial property of all approaches is that they have the ability to adapt the controller to accommodate changes in the process. That means that the controller ...
Finally, the role of U is to eliminate the possibility of static loops and thus assure that the adaptive control law is well defined. The new parametrization based on the factorization Kp=SDU resulted in a more complete MIMO analog of the SISO adaptive Lyapunov-based design which is ...
The estimator is based on the extended Kalman filter (EKF) structure combined with a Lyapunov-based adaptation law for estimating the contact force. In ... J Jung,J Lee,K Huh - ARCHIVE Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science 1989-...
The tuning functions design is based on a single Lyapunov function incorporating both the error states and update law, and hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable ...
Remark 1: The system (1) can also be stabilized with the un-normalized gain adaptation.(Hong et al. 20014. Hong, J and Bernstein, DS. 2001. 4. Optimal adaptive stabilization. 2003.Lyapunov-based backward-horizon discrete-time adaptive control. adaptive...
In this study, let’s denote\(S\)as the region where the controlled system is stable under the input law\(u=h(x)\)and\({S}_{\delta }\)the Lyapunov-based stability zone given by $$S_{\delta } = \left\{ {x \smallint X_{e} :V\left( x \right) < \delta } \right\},$...
An LMI-based robust state-feedback controller design for the position control of a knee rehabilitation exoskeleton robot: Comparative analysis: control law for robust position control of a knee exoskeleton robot, taking into account its nonlinear dynamic model that includes solid and viscous ... S ...
关键词: Lyapunov methods adaptive control control system synthesis variable structure systems Lyapunov based approach Lyapunov design adaptation algorithm adaptive-gain twist sliding mode controller dynamically adaptive control gains Electronic mail DOI: 10.1109/CDC.2011.6160982 被引量: 128 ...
methods of any order of accuracy that preserve at the discrete level the stability properties of parabolic reaction-diffusion PDE models withrspecies. The construction of these schemes is based on Lyapunov’s direct method. For this reason, they are referred to as “Lyapunov consistent” ...
The stability of the closed-loop system, under the influence of the adaptive fuzzy controller, is rigorously analyzed based on the fractional Lyapunov stability criterion. Furthermore, fractional adaptation laws are established to update the fuzzy parameters. Theoretical and Computational Advances in Nonli...