Parameter to state stability of control Lyapunov functions for hybrid system models of robots
From MaRDI portal
Publication:2406960
DOI10.1016/j.nahs.2016.09.003zbMath1377.93142OpenAlexW2544863695WikidataQ59945266 ScholiaQ59945266MaRDI QIDQ2406960
Aaron D. Ames, Shishir Kolathaya
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
Control/observation systems with incomplete information (93C41) Lyapunov and storage functions (93D30) Input-output approaches in control theory (93D25) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)
Related Items
Local stability of PD controlled bipedal walking robots, The stability of continuous-discrete dynamical systems under fast switching, Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems, Hybrid disturbance rejection control of dynamic bipedal robots, Adjoint sensitivity analysis of hybrid multibody dynamical systems, Finite time control of a class of nonlinear switched systems in spite of unknown parameters and input saturation
Cites Work
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Adaptive motion control of rigid robots: A tutorial
- Characterizations of input-to-state stability for hybrid systems
- Input-to-state stability of PD-controlled robotic systems
- Converse Lyapunov functions for exponentially stable periodic orbits
- Lyapunov conditions for input-to-state stability of impulsive systems
- Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
- Characterizing knee-bounce in bipedal robotic walking
- A New Feedback Method for Dynamic Control of Manipulators
- Robust tracking control of robots by a linear feedback law
- Robust control of robots via linear estimated state feedback
- Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
- Smooth stabilization implies coprime factorization
- A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
- Identification of a Bipedal Robot with a Compliant Drivetrain
- Hybrid Systems: Computation and Control
- Robust nonlinear control design. State-space and Lyapunov techniques
