Parameter to state stability of control Lyapunov functions for hybrid system models of robots

DOI10.1016/J.NAHS.2016.09.003MaRDI QIDQ2406960zbMATH OpenOpenAlexWikidataFDO

Authors Shishir Kolathaya, Aaron D. Ames

Publication date 4 October 2017

Published in Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.nahs.2016.09.003

zbMATH Keywords

hybrid systemsparameter uncertaintycontrol Lyapunov functionsinput to state stability

Mathematics Subject Classification ID

Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Input-output approaches in control theory (93D25) Lyapunov and storage functions (93D30)

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Cited in

(7)

• Finite time control of a class of nonlinear switched systems in spite of unknown parameters and input saturation
• Adjoint sensitivity analysis of hybrid multibody dynamical systems
• Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems
• Local stability of PD controlled bipedal walking robots
• The stability of continuous-discrete dynamical systems under fast switching
• Active space control of underactuated robots: from adaptation to robustness to optimality
• Hybrid disturbance rejection control of dynamic bipedal robots

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