Formation Control for Unmanned Surface Vessels Using Lyapunov Redesign Method
Journal of Ocean Engineering and Technology, 2014 In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be
Sangbum Woo, Jae Yong Lee
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Super Twisting Based Lyapunov Redesign for Uncertain Linear Delay Systems [PDF]
IEEE Transactions on Automatic Control, 2022 9 pages, 2 ...
Marco A. Gomez +2 more
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Control of Fully Actuated Mechanical Systems via Super-twisting Based Lyapunov Redesign
IFAC-PapersOnLine, 2020 Abstract The problem control of fully actuated of mechanical systems under uncertainties is considered. With this aim a concept of Lyapunov redesign is revisited. The derivative of the Lyapunov function for a nominal model of the robot is used for the sliding surface design.
Manuel A. Estrada +2 more
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Lyapunov-based continuous-time nonlinear controller redesign for sampled-data implementation [PDF]
Automatica, 2005 Given a continuous-time controller and a Lyapunov function that shows global asymptotic stability for the closed loop system, we provide several results for modification of the controller for sampled-data implementation. The main idea behind this approach is to use a particular structure for the redesigned controller and the main technical result is to
Dragan Nešić, Lars Grüne
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Lyapunov redesign of classical digital phase-lock loops [PDF]
Proceedings of the 2003 American Control Conference, 2003., 2004 The author (1990) has previously established that Lyapunov redesign is effective in designing an analog phase-locked loop for which the nonlinear model (in the signal phase space) is guaranteed to be stable. This paper extends that concept to what are commonly called classical digital phase-locked loops. These loops, which are very common in high speed
Daniel Y. Abramovitch
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Lyapunov-Redesign and Sliding Mode Controller for Microprocessor Based Transfemoral Prosthesis [PDF]
Intelligent Automation & Soft Computing, 2021 Ali Faisal Murtaza +5 more
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Perturbed Integrators Chain Control via Barrier Function Adaptation and Lyapunov Redesign [PDF]
12 pages, 9 ...
Manuel A. Estrada +3 more
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Stabilization of Uncertain Systems using Backstepping and Lyapunov Redesign
, 2013 Muhammad Nizam Kamarudin +2 more
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Constrained discrete-time optimal control of uncertain systems with adaptive Lyapunov redesign
Turkish Journal of Electrical Engineering and Computer Sciences, 2021 OĞUZ HAN ALTINTAŞ, Ali Emre Turgut
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NONLINEAR SAMPLED DATA CONTROLLER REDESIGN VIA LYAPUNOV FUNCTIONS [PDF]
IFAC Proceedings Volumes, 2005 We provide results for redesign of Lyapunov function based continuous time controllers for sampled-data implementation, using a particular form of the redesigned controller and the Taylor expansion of the sampled-data Lyapunov difference. We develop two types of redesigned controllers that (i) make the lower order terms (in T) in the series expansion ...
Grüne, L, Neŝić, D
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