Results 71 to 80 of about 10,373,678 (325)

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs [PDF]

IEEE Access, 2013
This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. In particular, we consider the application of bipedal walking and show that our
Kevin S. Galloway, K. Sreenath, Aaron D. Ames, J. Grizzle   +3 more
semanticscholar   +1 more source

Full‐order observer design for quadratic port‐controlled Hamiltonian systems

Asian Journal of Control, EarlyView.
Abstract The full‐order observer design problem for a particular class of port‐controlled Hamiltonian systems is approached in this paper. The proposed full‐order observer scheme belongs to the structure preserving class of dynamic estimators as it preserves the natural stability properties of the approached class of systems that are useful for the ...
Michael Rojas, Christian Granados‐Salazar, Gerardo Espinosa‐Pérez   +2 more
wiley   +1 more source

A dual‐driven event‐triggered mechanism for observer‐based sliding mode control of stochastic uncertain Markov jump systems

Asian Journal of Control, EarlyView.
Abstract This paper investigates the problem of observer‐based sliding mode control (SMC) of stochastic uncertain Markov jump systems using dual‐driven event‐triggered mechanism (ETM). The ETM is implemented not only in the system output to the observer channel but also in the feedback channel, forming a dual ETM, which can effectively reduce ...
Haocheng Lou, Baoping Jiang, Hamid Reza Karimi   +2 more
wiley   +1 more source

Adaptive event‐based asynchronous approach for containment control of Markov jump multi‐agent systems with hidden Markov models

Asian Journal of Control, EarlyView.
Abstract This paper focuses on the issue of adaptive event‐triggered containment control for Markov jump multi‐agent systems characterized by hidden Markov jump parameters. The central objective is to design an output‐feedback controller for the Markov jump multi‐agent system by using an adaptive event‐triggered technique that not only ensures the ...
Parivallal Arumugam, Oh‐Min Kwon, Sangwoon Yun, Yoon Mo Jung   +3 more
wiley   +1 more source

Wearable exoskeleton robot control using radial basis function‐based fixed‐time terminal sliding mode with prescribed performance

Asian Journal of Control, EarlyView.
Abstract This paper tackles the problem of robust and accurate fixed‐time tracking in human–robot interaction and deals with uncertainties. This work introduces a control approach for a wearable exoskeleton designed specifically for rehabilitation tasks.
Mahmoud Abdallah, Yassine Kali, Maarouf Saad, Raouf Fareh, Maamar Bettayeb   +4 more
wiley   +1 more source

Some constructions of Lyapunov function for linear extensions of dynamical systems [PDF]

Opuscula Mathematica, 2011
In this note we consider some sets of linear extensions of dynamical systems and research regularity by means of the sign-changing Lyapunov function. We examine some constructions of Lyapunov functions for given systems.
Viktor Kulik, Ewa Tkocz-Piszczek
doaj   +1 more source

On qualitative analysis of an ecological dynamics with time delay

Asian Journal of Control, EarlyView.
Abstract In this paper, we study a fractional‐order predator–prey system with time delay, where the dynamics are logistic with prey population commensurate to the carrying capacity. Mainly, by linearizing the system around the equilibrium point, we first analyze the stability and then prove the existence of Hopf bifurcation.
Canan Celik, Kubra Degerli
wiley   +1 more source

Lyapunov functions and topological stability

Journal of Differential Equations, 1980
This paper contains some results on topological stability (see [2, 31) that generalize those obtained in [2] much in the same way as Lyapunov’s direct theorem generalizes the asymptotic stability results of the hyperbolic case: if at a critical point, the linear part of a vector field has proper values with negative real parts, the point is ...
openaire   +2 more sources

Risk‐aware safe reinforcement learning for control of stochastic linear systems

Asian Journal of Control, EarlyView.
Abstract This paper presents a risk‐aware safe reinforcement learning (RL) control design for stochastic discrete‐time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk‐informed safe controller is also learned besides the RL controller, and the RL and safe controllers are combined together ...
Babak Esmaeili, Nariman Niknejad, Hamidreza Modares   +2 more
wiley   +1 more source

Study of finite amplitude capillary waves stability

MATEC Web of Conferences, 2018
The direct Lyapunov method is used to study capillary waves. The dynamic equations of the capillary wave are presented in the form of an infinite Euler-Lagrange chain of equations for the Stokes coefficients.
Petrov Alexander, Lopushanski Mariana
doaj   +1 more source