Volume 5, Issue 4, March 2019, Pages 241 - 244
Time-Varying Lyapunov Function for Mechanical Systems
Bin Zhang1, *, Yingmin Jia2
1School of Automation, Beijing University of Posts and Telecommunications, Haidian District, Beijing 1008760, China
2The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Haidian District, Beijing 100191, China
*Corresponding author. Email. firstname.lastname@example.org
Received 28 October 2018, Accepted 21 November 2018, Available Online 30 March 2019.
- 10.2991/jrnal.k.190220.007How to use a DOI?
- Mechanical systems; time-varying systems; strict Lyapunov function; subsystems
In this paper, a general method for constructing time-varying Lyapunov functions is provided for mechanical systems. A new class of time-varying Lyapunov functions is provided and sufficient conditions of uniform asymptotical stability are established. Different from the existing results on this subject, we remove the periodic restrictions and persistency of excitation restrictions in our work. Moreover, the results are extended into the robustness cases with unmodeled dynamics. Based on the Lyapunov methods, it is shown that uniform asymptotical stability can be obtained by using the control input provided in our work.
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Download article (PDF)
View full text (HTML)
Cite this article
TY - JOUR AU - Bin Zhang AU - Yingmin Jia PY - 2019 DA - 2019/03/30 TI - Time-Varying Lyapunov Function for Mechanical Systems JO - Journal of Robotics, Networking and Artificial Life SP - 241 EP - 244 VL - 5 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190220.007 DO - 10.2991/jrnal.k.190220.007 ID - Zhang2019 ER -