On design of continuous Lyapunov's feedback control (Q2571825): Difference between revisions
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Revision as of 02:17, 20 March 2024
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | On design of continuous Lyapunov's feedback control |
scientific article |
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On design of continuous Lyapunov's feedback control (English)
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14 November 2005
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The paper is a case study; a robotic manipulator with two degrees of freedom is modelled within Lagrangian mechanics and its discontinuous controller is designed. For this system stability is studied using the Filippov solutions and a Lyapunov like function. Then the discontinuous terms in the system are replaced by continuous hypertangent functions which are smooth and it is studied the effect of such a replacement on the stability. It is mentioned that such a replacement removes the problem of chattering but may affect stability. The study is performed using the Lyapunov exponents. Numerical pitfalls in computing these exponents are mentioned.
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discontinuous stabilization
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Filippov solution
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Lyapunov exponents
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