Search results for "Lyapunov function"
showing 10 items of 104 documents
On Switching between Motion and Force Control
2019
In motion control technologies, an automatic switching between trajectory following and set reference force, upon the impact, is a frequently encountered requirement. Despite both, motion and force controls, are something of well-understood and elaborated in the control theory and engineering practice, a reliable switching between them is not always self-evident. It can lead to undesired deadlocks, limit cycles, chattering around switching point and, as consequence, to wearing or damages in the controlled plant and its environment. This paper contributes to analysis and understanding of the autonomous switching from the motion to force control and vice versa. Simple output and state feedbac…
Hybrid Position/Force Control for Hydraulic Actuators
2020
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including integral control error, pre-compensator of the deadzone, and low-pass filtering of the control value is designed. Controller gains are obtained via local linearization and pole placement accomplished separately for the position and force control. A hysteresis-based autonomous switching is integrated into the closed control loop, while multiple Lyapunov function based approach is applied for stability analysis of the entire hybrid control system. Experiment…
On the stability of some controlled Markov chains and its applications to stochastic approximation with Markovian dynamic
2015
We develop a practical approach to establish the stability, that is, the recurrence in a given set, of a large class of controlled Markov chains. These processes arise in various areas of applied science and encompass important numerical methods. We show in particular how individual Lyapunov functions and associated drift conditions for the parametrized family of Markov transition probabilities and the parameter update can be combined to form Lyapunov functions for the joint process, leading to the proof of the desired stability property. Of particular interest is the fact that the approach applies even in situations where the two components of the process present a time-scale separation, w…
STABILITY OF A STOCHASTICALLY PERTURBED MODEL OF INTRACELLULAR SINGLE-STRANDED RNA VIRUS REPLICATION
2019
Compared to the replication of double-stranded RNA and DNA viruses, the replication of single-stranded viruses requires the production of a number of intermediate strands that serve as templates for the synthesis of genomic-sense strands. Two theoretical extreme mechanisms for replication for such single-stranded viruses have been proposed; one extreme being represented by the so-called linear stamping machine and the opposite extreme by the exponential growth. Of course, real systems are more complex and examples have been described in which a combination of such extreme mechanisms can also occur: a fraction of the produced progeny resulting from a stamping-machine type of replication that…
Global exponential stability of delayed Markovian jump fuzzy cellular neural networks with generally incomplete transition probability
2014
The problem of global exponential stability in mean square of delayed Markovian jump fuzzy cellular neural networks (DMJFCNNs) with generally uncertain transition rates (GUTRs) is investigated in this paper. In this GUTR neural network model, each transition rate can be completely unknown or only its estimate value is known. This new uncertain model is more general than the existing ones. By constructing suitable Lyapunov functionals, several sufficient conditions on the exponential stability in mean square of its equilibrium solution are derived in terms of linear matrix inequalities (LMIs). Finally, a numerical example is presented to illustrate the effectiveness and efficiency of our res…
Explicit solutions for a system of coupled Lyapunov differential matrix equations
1987
This paper is concerned with the problem of obtaining explicit expressions of solutions of a system of coupled Lyapunov matrix differential equations of the typewhere Fi, Ai(t), Bi(t), Ci(t) and Dij(t) are m×m complex matrices (members of ℂm×m), for 1≦i, j≦N, and t in the interval [a,b]. When the coefficient matrices of (1.1) are timeinvariant, Dij are scalar multiples of the identity matrix of the type Dij=dijI, where dij are real positive numbers, for 1≦i, j≦N Ci, is the transposed matrix of Bi and Fi = 0, for 1≦i≦N, the Cauchy problem (1.1) arises in control theory of continuous-time jump linear quadratic systems [9–11]. Algorithms for solving the above particular case can be found in [1…
Fault detection for continuous-time switched systems under asynchronous switching
2013
In this chapter, the problem of FD for continuous-time switched systems under asynchronous switching is investigated. The designed FD filter is assumed to be asynchronous with the original systems. Attention is focused on designing a FD filter such that the estimation error between the residual and the fault is minimized in the sense of H ∞ norm. By employing piecewise Lyapunov function and ADT techniques, a sufficient condition for the existence of such a filter is exploited in terms of certain LMIs. Finally, an example is provided to illustrate the effectiveness of the proposed approach.
Minimal Morse flows on compact manifolds
2006
Abstract In this paper we prove, using the Poincare–Hopf inequalities, that a minimal number of non-degenerate singularities can be computed in terms only of abstract homological boundary information. Furthermore, this minimal number can be realized on some manifold with non-empty boundary satisfying the abstract homological boundary information. In fact, we present all possible indices and types (connecting or disconnecting) of singularities realizing this minimal number. The Euler characteristics of all manifolds realizing this minimal number are obtained and the associated Lyapunov graphs of Morse type are described and shown to have the lowest topological complexity.
Global stability analysis of a delay cell-population model of hepatitis B infection with humoral immune response
2021
In this work, we propose and investigate a delay cell population model of hepatitis B virus (HBV) infection. We suppose spatial diffusion of free HBV particles, and use a Beddington-DeAngelis incid...
Chaotic dynamics around cometary nuclei
2017
We apply a generalized Kepler map theory to describe the qualitative chaotic dynamics around cometary nuclei, based on accessible observational data for five comets whose nuclei are well-documented to resemble dumb-bells. The sizes of chaotic zones around the nuclei and the Lyapunov times of the motion inside these zones are estimated. In the case of Comet 1P/Halley, the circumnuclear chaotic zone seems to engulf an essential part of the Hill sphere, at least for orbits of moderate to high eccentricity.