Results 111 to 120 of about 237,894 (262)
Adaptive Motion Control with State Constraints Using Barrier Lyapunov Functions
PRZEGLĄD ELEKTROTECHNICZNY, 2016 A servo control with unknown system parameters and the constraints imposed on the maximal position and velocity is considered. The barrier Lyapunov functions approach is applied to assure the preservation of bounds in any conditions. The system performance is compared for three cases of the controller design: based on quadratic Lyapunov functions ...
openaire +1 more source
Advances in Mechanical EngineeringA new triple-loop recurrent neural network (TLRNN) super-twisting terminal sliding mode control (TSMC) scheme based on the barrier function is proposed for the attitude tracking control of flight systems with unknown disturbances and parameter ...
Qinglei Li
doaj +1 more source
Conley barriers and their applications: Chain-recurrence and Lyapunov functions
Topology and its Applications, 2009 Conley [\textit{C. Conley}, Isolated invariant sets and the Morse index. Regional Conference Series in Mathematics. No.~38. (Providence), R.I.: American Mathematical Society (AMS). (1978; Zbl 0397.34056)] studied the structure of the set of chain-recurrent points for a continuous map \(f:X\to X\) of a compact metric space in terms of attractors of \(f\)
openaire +2 more sources
Ain Shams Engineering JournalThis paper proposes a barrier function-based adaptive control strategy with a nonlinear sliding surface for a class of uncertain dynamic systems with input saturation.
Rahim Rahimpour +6 more
doaj +1 more source
Short- and Long- Time Transport Structures in a Three Dimensional Time Dependent Flow
, 2014 Lagrangian transport structures for three-dimensional and time-dependent fluid flows are of great interest in numerous applications, particularly for geophysical or oceanic flows.
Chabreyrie, Rodolphe +1 more
core +1 more source
Ain Shams Engineering JournalThis study proposes a barrier function-based adaptive nonsingular terminal synergetic control to mitigate chattering and uncertainty in a nonlinear system with hard state constraints and actuator saturation.
Muhammad Auzan, Yong-Lin Kuo
doaj +1 more source
Safe and Dynamically Feasible Motion Planning Using Control Lyapunov and Barrier Functions
IEEE Transactions on RoboticsThis paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We introduce the C-CLF-CBF-RRT algorithm, which produces paths with such properties and leverages rapidly ...
Pol Mestres +2 more
openaire +2 more sources
AIMS MathematicsIn this work, an ultra-local model-based predefined-time assist-as-needed controller (UPTAC) is presented for a upper limb patient-exoskeleton system (ULPES) under input and performance constraints. The designed UPTAC has a dual-loop control architecture.
Honglin Xie, Yangchun Wei
doaj +1 more source