Results 61 to 70 of about 29,097,853 (357)
IEEE Access, 2015 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 Galloway +3 more
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Systematic Analysis and Design of Control Systems Based on Lyapunov’s Direct Method
Algorithms, 2023 This paper deals with systematic approaches for the analysis of stability properties and controller design for nonlinear dynamical systems. Numerical methods based on sum-of-squares decomposition or algebraic methods based on quantifier elimination are ...
Rick Voßwinkel, Klaus Röbenack
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Via‐Points Task Execution Based on Enhanced Dynamic Movement Primitives and Steering Force Fields
Advanced Intelligent Systems, EarlyView.Enhanced dynamic movement primitives with steering force fields enable robotic arms to flexibly traverse static and dynamic via‐points while preserving demonstrated trajectory shapes. The method ensures stability, minimizes free‐space loss, and adapts to complex environments without additional learning, making it particularly suitable for industrial ...
Xumeng Cheng +6 more
wiley +1 more source
Testing for Chaos in Deterministic Systems with Noise
, 2004 Recently, we introduced a new test for distinguishing regular from chaotic dynamics in deterministic dynamical systems and argued that the test had certain advantages over the traditional test for chaos using the maximal Lyapunov exponent.
Abarbanel +22 more
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Review on computational methods for Lyapunov functions
, 2015 Lyapunov functions are an essential tool in the stability analysis of dynamical systems, both in theory and applications. They provide sufficient conditions for the stability of equilibria or more general invariant sets, as well as for their basin of ...
P. Giesl, S. Hafstein
semanticscholar +1 more source
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 +4 more
wiley +1 more source
Joint Spectral Radius and Path-Complete Graph Lyapunov Functions
, 2013 We introduce the framework of path-complete graph Lyapunov functions for approximation of the joint spectral radius. The approach is based on the analysis of the underlying switched system via inequalities imposed among multiple Lyapunov functions ...
Ahmadi A. A. +8 more
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Computational methods for Lyapunov functions
Discrete and Continuous Dynamical Systems - Series B, 2015 Lyapunov functions, introduced by Lyapunov more than 100 years ago, are to this day one of the most important tools in the stability analysis of dynamical systems. They are functions which decrease along solution trajectories of systems, and they can be used to show stability of an invariant set, such as an equilibrium, as well as to determine its ...
Peter Giesl, Sigurdur Hafstein
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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 +2 more
wiley +1 more source
Modeling and parameter estimation for fractional large‐scale interconnected Hammerstein systems
Asian Journal of Control, EarlyView.Abstract This paper addresses the challenge of modeling and identifying large‐scale interconnected systems exhibiting memory effects, hereditary properties, and non‐local interactions. We propose a fractional‐order extension of the Hammerstein architecture that incorporates Grünwald–Letnikov operators to capture complex dynamics through multiple ...
Mourad Elloumi +2 more
wiley +1 more source