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The rotary (Furuta's) pendulum is used to analyzed the performance of a new nonlinear optimal (H-infinity) control for underactuated robotic systems. After applying partial feedback linearization, the pendulum's dynamic model is first transformed to an equivalent form. The later description of the pendulum's dynamics undergoes approximate linearization which takes place round a temporary operating...
In order to make the nonlinear affine-control systems become globally asymptotically stable; it is effective to design a kind of feedback controller by means of Lyapunov function. In addition, this way has drawn great attention in recent years. Three things are done in this paper. First, the sufficient and necessary condition about the lower semi-continuousness of feedback control mapping is introduced,...
The exponential stability of nonlinear Ito differential systems with time-delay and Markovian switching is studied. According to the theory of stability of stochastic systems and Ito differential formula, by choosing proper stochastic Lyapunov function, applying generalized Ito formula, some sufficient conditions of exponential stability of such system was obtained, which improved existed results,...
In this paper, we shall study the stabilizability of the Degasperis-Procesi (D-P) equation with periodic boundary condition, namely, by linear distributed feedbacks. First, by using the multiplier technique, we show that the solution to the D-P equation with the distributed feedback control is asymptotically stable. Secondly, by using T. Katopsilas theorem, we show the closed-loop system under a distributed...
For a second-order nonholonomic constraint exists in underactuated surface vessel system, which makes thesystem not meet the Brockett's necessary condition, there is no continuously differentiable control law that can make the origin of the system asymptotically stable. After coordinate and feedback transformations, the stable feedback control laws are respectively proposed for two subsystems with...
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