Design of stabilizing control laws for mechanical systems based on Lyapunov's method

1996 ◽  
Vol 19 (1) ◽  
pp. 172-180 ◽  
Author(s):  
Toshiyuki Ohtsuka ◽  
Hironori A. Fujii
Keyword(s):  
Mechanical Systems ◽  
Control Laws ◽  
Stabilizing Control ◽  
Lyapunov's Method ◽  
Lyapunov’S Method

AUTOMATIC PARALLELIZATION OF ELECTRO-MECHANICAL SYSTEMS GOVERNED BY ODEs

2002 ◽  
Vol 26 (3) ◽  
pp. 347-365
Author(s):  
C.A. Rabbath ◽  
A. Ait El Cadi ◽  
M. Abdonne ◽  
N. Lechevin ◽  
S. Lapierre ◽  
...  
Keyword(s):  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Block Diagram ◽  
Time Integration ◽  
Mechanical Systems ◽  
Automatic Parallelization ◽  
Iteration Step ◽  
Control Laws ◽  
Loop Control ◽  
Novel Method

The paper proposes an effective approach for the automatic parallelization of models of electro-mechanical systems governed by ordinary differential equations. The novel method takes a nominal mathematical model, expressed in block diagram language, and portions in parallel the code to be executed on a set of standard microprocessors. The integrity of the simulations is preserved, the computing resources available are efficiently used, and the simulations are compliant with real-time constraints; that is, the time integration of the ordinary differential equations is performed within restricted time limits at each iteration step. The proposed method is applied to a two-degree-of-freedom revolute joint robotic system that includes an induction motor and two inner-outer loop control laws. Numerical simulations validate the proposed approach.

Lyapunov's Method Applied to the Hopf Bifurcation

1979 ◽  
Vol s2-20 (2) ◽  
pp. 293-299 ◽  
Author(s):  
D. J. Allwright ◽  
A. I. Mees
Keyword(s):  
Hopf Bifurcation ◽  
Lyapunov's Method ◽  
Lyapunov’S Method
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