Control of the Furuta Pendulum by using a Lyapunov function

2006 ◽  
Author(s):  
Carlos Aguilar-Ibanez ◽  
Octavio F. Gutierrez ◽  
Humberto Sossa-Azuela
Keyword(s):  
Lyapunov Function

Adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics

2021 ◽  
pp. 014233122098563
Author(s):  
Fei Shen ◽  
Xinjun Wang ◽  
Xinghui Yin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Dead Zone ◽  
Small Neighborhood ◽  
Unmodeled Dynamics ◽  
Stochastic Nonlinear Systems ◽  
Dynamic Surface ◽  
Barrier Lyapunov Function ◽  
Full State

This paper investigates the problem of adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics. To stabilize such a system, a dynamic signal is introduced to dominate unmodeled dynamics and an assistant signal is constructed to compensate for the effect of the dead zone. Dynamic surface control is used to solve the “complexity explosion” problem in traditional backstepping design. Two cases of symmetric and asymmetric Barrier Lyapunov functions are discussed respectively in this paper. The proposed Barrier Lyapunov function based on backstepping method can ensure that the output tracking error converges in the small neighborhood of the origin. This control scheme can ensure that semi-globally uniformly ultimately boundedness of all signals in the closed-loop system. Two simulation cases are proposed to verify the effectiveness of the theoretical method.

scholarly journals Stabilization of Stochastic Differential Equations Driven by G-Brownian Motion with Aperiodically Intermittent Control

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 988
Author(s):  
Pengju Duan
Keyword(s):  
Brownian Motion ◽  
Lyapunov Function ◽  
Differential Equations ◽  
Exponential Stability ◽  
Stochastic Differential Equations ◽  
Mild Solution ◽  
Intermittent Control

The paper is devoted to studying the exponential stability of a mild solution of stochastic differential equations driven by G-Brownian motion with an aperiodically intermittent control. The aperiodically intermittent control is added into the drift coefficients, when intermittent intervals and coefficients satisfy suitable conditions; by use of the G-Lyapunov function, the p-th exponential stability is obtained. Finally, an example is given to illustrate the availability of the obtained results.

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