Lyapunov Design of Multivariable MRAC via Generalized Passivation

2014 ◽  
Vol 17 (5) ◽  
pp. 1484-1497 ◽  
Author(s):  
Liu Hsu ◽  
Marcelo Carvalho Minhoto Teixeira ◽  
Ramon Romankevicius Costa ◽  
Edvaldo Assunção
Keyword(s):  
Lyapunov Design

scholarly journals Lyapunov-design for a super-twisting sliding-mode controller using the certainty-equivalence principle

2015 ◽  
Vol 48 (11) ◽  
pp. 860-865 ◽  
Author(s):  
Alexander Barth ◽  
Markus Reichhartinger ◽  
Johann Reger ◽  
Martin Horn ◽  
Kai Wulff
Keyword(s):  
Equivalence Principle ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Certainty Equivalence ◽  
Lyapunov Design

A Stable Approach for Modular Learning and its Application to Autonomous Aero-Robot

2006 ◽  
Vol 18 (1) ◽  
pp. 44-50 ◽  
Author(s):  
Mai Bando ◽  
◽  
Hiroaki Nakanishi
Keyword(s):  
Control System ◽  
Numerical Simulations ◽  
Design Method ◽  
Autonomous Robot ◽  
Flight Experiment ◽  
Dynamic Relations ◽  
Lyapunov Design

A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with environment, is discussed in this paper. We propose a method to design a control system by modular learning based on Lyapunov design method. In our method, modules that have different property and the dynamic relations between modules to achieve the task are learned. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.

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