Results 81 to 90 of about 237,894 (262)

Safe Stabilization using Nonsmooth Control Lyapunov Barrier Function

This paper addresses the challenge of safe stabilization, ensuring the system state reach the origin while avoiding unsafe regions. Existing approaches relying on smooth Lyapunov barrier functions often fail to guarantee a feasible controller. To overcome this limitation, we introduce the nonsmooth Control Lyapunov Barrier Function (NCLBF), which ...
Lan, Jianglin, van Henten, Eldert, Koerkamp, Peter Groot, Sun, Congcong   +3 more
openaire   +2 more sources

Robotic Needle Steering for Percutaneous Interventions: Sensing, Modeling, and Control

Advanced Intelligent Systems, Volume 8, Issue 1, January 2026.
This review examines recent advances in robotic needle steering for percutaneous interventions, highlighting closed‐loop sensing, physics‐informed tissue‐needle interaction modeling, and real‐time trajectory planning and control. It synthesizes innovations in deep learning, fiber‐optic feedback, and adaptive control strategies, and outlines emerging ...
Fangjiao Zhao, Ruixue Xu, Wujun Zhao, Xi‐Ming Sun, Yu Sun, Changsheng Dai   +5 more
wiley   +1 more source

Parameter Tuning of Barrier Lyapunov Function-Based Controllers in Electric Drive Systems

Energies
This paper refers to fast and accurate electric servo control in the presence of position and velocity constraints. This problem, one of the most common nowadays in industrial automation, is often addressed by controllers derived using barrier Lyapunov ...
Marcin Jastrzębski, Jacek Kabziński
doaj   +1 more source

Scarring Effects on Tunneling in Chaotic Double-Well Potentials

, 2000
The connection between scarring and tunneling in chaotic double-well potentials is studied in detail through the distribution of level splittings. The mean level splitting is found to have oscillations as a function of energy, as expected if scarring ...
A. I. Schnirelman, C. E. Porter, C. M. Marcus, D. Bohm, D. O. Harris, E. J. Heller, E. J. Heller, J. C. Light, J. E. Lynn, J. I. Steinfeld, J. V. Lill, L. Kaplan, L. Kaplan, L. Kaplan, L. Kaplan, L. Kaplan, L. Kaplan, L. P. Kouwenhoven, O. Agam, O. Agam, P. B. Wilkinson, P. J. Robinson, R. Hernandez, S. C. Creagh, S. C. Creagh, S. C. Creagh, S. Zelditch, S. Zelditch, T. A. Brody, T. M. Fromhold, T. M. Fromhold, W. E. Bies, W. H. Miller, Y. Colin de Verdiere   +33 more
core   +2 more sources

Stable Exact Solutions in Cosmological Models with Two Scalar Fields [PDF]

, 2010
The stability of isotropic cosmological solutions for two-field models in the Bianchi I metric is considered. We prove that the sufficient conditions for the Lyapunov stability in the Friedmann-Robertson-Walker metric provide the stability with respect ...
A. A. Starobinsky, A. G. Muslimov, A. G. Riess, A. M. Lyapunov, B. Zwiebach, C. Germani, G. F. R. Ellis, I. Moss, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I. Ya. Aref’eva, I.Ya. Aref’eva, I.Ya. Aref’eva, J. D. Barrow, J. Sadeghi, J. Wainwright, K. Ohmori, L. Bianchi, N. V. Bulatov, O. DeWolfe, P. J. Steinhardt, R. Lazkoz, R. Lazkoz, R. M. Wald, S. Nesseris, S. W. Hawking, S. Weinberg, S. Yu. Vernov, S. Yu. Vernov, T. S. Pereira, U. Alam, Z.-K. Guo, Z.-K. Guo   +40 more
core   +1 more source

A Human–Robot Collaboration Control Framework for Supernumerary Robotic Limbs

Journal of Field Robotics, Volume 43, Issue 1, Page 34-48, January 2026.
ABSTRACT In this paper, a novel human–robot collaboration (HRC) framework is proposed to enhance the capability of Supernumerary Robotic Limbs (SRLs). The proposed framework consists of three key modules: human motion intention recognition, disturbance rejection control, and obstacle avoidance, all of which are crucial for SRLs in the process of HRC ...
Jing Luo, Xiangyu Zhou, Yifan Zhu, Yu Li, Chaoyi Zhang, Keao Wang, Zhaohong Mai, Chao Zeng   +7 more
wiley   +1 more source

Observer-Based Adaptive Neural Control for Non-Triangular Form Systems With Input Saturation and Full State Constraints

IEEE Access, 2019
This paper addresses the problem of adaptive output feedback control for a class of non-triangular time-varying delay system with input constraints and full-state constraints.
Rui Zhang, Junmin Li
doaj   +1 more source

Adaptive fuzzy extended state observer for a class of nonlinear systems with output constraint

Nonlinear Engineering, 2023
In this study, an adaptive fuzzy extended state observer (AFESO) for single-input–single-output nonlinear affine systems in the presence of external disturbances and output constraints is proposed.
Delpasand Mahtab, Farrokhi Mohammad
doaj   +1 more source

Exponential Convergent Second‐Order Sliding Mode Control Based on Barrier Lyapunov Function of State Constraint Robotic Manipulators

IET Control Theory &Applications, Volume 20, Issue 1, January/December 2026.
A novel controller design integrates position error constraints using a barrier Lyapunov function, ensuring bounded tracking performance. The proposed control strategy ensures exponential convergence of tracking errors while preserving robustness against disturbances and uncertainties.
Luis Pantoja‐Garcia, Isaac Chairez
wiley   +1 more source

Hyperbolic Covariant Coherent Structures in two dimensional flows

, 2017
A new method to describe hyperbolic patterns in two dimensional flows is proposed. The method is based on the Covariant Lyapunov Vectors (CLVs), which have the properties to be covariant with the dynamics, and thus being mapped by the tangent linear ...
Badin, Gualtiero, Conti, Giovanni
core   +2 more sources