Temat: Lyapunov-like function - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Trajectory tracking and collision avoidance for the formation of two-wheeled mobile robots
Autorzy:: Kowalczyk, W.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/200897.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: robot formation
nonholonomic robot
stability analysis
Lyapunov-like function
path following
artificial potential function
Opis:: This paper presents control method for multiple two-wheeled mobile robots moving in formation. Trajectory tracking algorithm from [7] is extended by collision avoidance, and is applied to the different type of formation task: each robot in the formation mimics motion of the virtual leader with a certain displacement. Each robot avoids collisions with other robots and circular shaped, static obstacles existing in the environment. Artificial potential functions are used to generate repulsive component of the control. Stability analysis of the closed-loop system is based on Lyapunov-like function. Effectiveness of the proposed algorithm is illustrated by simulation results.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 915-924
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Generalized practical stability analysis of discontinuous dynamical systems
Autorzy:: Zhai, G.
Michel, A. N.
Powiązania:: https://bibliotekanauki.pl/articles/907305.pdf
Data publikacji:: 2004
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: układ dynamiczny nieciągły
analiza ilościowa
funkcja Lyapunova
discontinuous dynamical system
quantitative analysis
generalized practical stability
Lyapunov-like function
Opis:: In practice, one is not only interested in the qualitative characterizations provided by the Lyapunov stability, but also in quantitative information concerning the system behavior, including estimates of trajectory bounds, possibly over finite time intervals. This type of information has been ascertained in the past in a systematic manner using the concept of practical stability. In the present paper, we give a new definition of generalized practical stability (abbreviated as GP-stability) and establish some sufficient conditions concerning GP-stability for a wide class of discontinuous dynamical systems. As in the classical Lyapunov theory, our results constitute a Direct Method, making use of auxiliary scalar-valued Lyapunov-like functions. These functions, however, have properties that differ significantly from the usual Lyapunov functions. We demonstrate the applicability of our results by means of several specific examples.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2004, 14, 1; 5-12
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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