Temat: analiza Lyapunova - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Modeling and Control of a 4-wheel Skid-steering Mobile Robot
Autorzy:: Kozłowski, K.
Pazderski, D.
Powiązania:: https://bibliotekanauki.pl/articles/907961.pdf
Data publikacji:: 2004
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: robot mobilny
backstepping
analiza Lyapunova
mobile robots
skid-steering vehicles
time-varying control laws
Lyapunov analysis
Opis:: A mathematical model of a 4-wheel skid-steering mobile robot is presented in a systematic way. The robot is considered as a subsystem consisting of kinematic, dynamic and drive levels. Next, a designing process of a kinematic controller based on the algorithm introduced by (Dixon et al., 2001) is shown. An extension of the kinematic control law at the dynamic and motor levels using the Lyapunov analysis and the backstepping technique is developed. To validate the designed algorithm, extensive simulation results for trajectory tracking and set-point cases are discussed. Some deliberations concerning the tuning of the controller are presented, too.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 477-496
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
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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