On design of continuous Lyapunov's feedback control (Q2571825)

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.