Stability Analysis of a Class of Nonlinear Controllers

2003 ◽  
Author(s):  
T. Ravichandran ◽  
G. R. Heppler ◽  
D. W. L. Wang
Keyword(s):  
Stability Analysis ◽  
Exponential Stability ◽  
Tracking Control ◽  
Global Exponential Stability ◽  
Feedback Controller ◽  
Nonlinear Gain ◽  
Nonlinear Controllers ◽  
Simulation Results ◽  
Pd Feedback Controller ◽  
The Stability

The stability analysis of a class of nonlinear PD-plus-feedforward controllers is presented for the tracking control of rigid robot manipulators. The controller structure is composed of a nonlinear gain PD feedback controller and a manipulator dynamics feedforward term. The class of representations used for the nonlinear gain PD feedback controller is extended and global exponential stability is proved. Simulation results are included to illustrate the performance of this class of nonlinear controllers.

ATTRACTABILITY AND LOCATION OF EQUILIBRIUM POINT OF CELLULAR NEURAL NETWORKS WITH TIME-VARYING DELAYS

2004 ◽  
Vol 14 (05) ◽  
pp. 337-345 ◽  
Author(s):  
ZHIGANG ZENG ◽  
DE-SHUANG HUANG ◽  
ZENGFU WANG
Keyword(s):  
Neural Networks ◽  
Exponential Stability ◽  
Equilibrium Point ◽  
Global Exponential Stability ◽  
Cellular Neural Networks ◽  
Stability Conditions ◽  
Time Varying ◽  
The Stability ◽  
Theoretical Results

This paper presents new theoretical results on global exponential stability of cellular neural networks with time-varying delays. The stability conditions depend on external inputs, connection weights and delays of cellular neural networks. Using these results, global exponential stability of cellular neural networks can be derived, and the estimate for location of equilibrium point can also be obtained. Finally, the simulating results demonstrate the validity and feasibility of our proposed approach.

EXPONENTIAL STABILITY ANALYSIS OF NEURAL NETWORKS WITH VARIABLE DELAYS

2010 ◽  
Vol 20 (05) ◽  
pp. 1541-1549 ◽  
Author(s):  
MAN-CHUN TAN ◽  
YAN ZHANG ◽  
WEN-LI SU ◽  
YU-NONG ZHANG
Keyword(s):  
Neural Networks ◽  
Stability Analysis ◽  
Exponential Stability ◽  
Equilibrium Point ◽  
Global Exponential Stability ◽  
Sufficient Conditions ◽  
Cellular Neural Networks ◽  
Variable Delays

Some sufficient conditions to ensure the existence, uniqueness and global exponential stability of the equilibrium point of cellular neural networks with variable delays are derived. These results extend and improve the existing ones in the literature. Two illustrative examples are given to demonstrate the effectiveness of our results.

PERTURBATION AND STABILITY ANALYSIS OF THE MULTI-ANTICIPATIVE INTELLIGENT DRIVER MODEL

2010 ◽  
Vol 21 (05) ◽  
pp. 647-668 ◽  
Author(s):  
XI-QUN CHEN ◽  
WEI-JUN XIE ◽  
JING SHI ◽  
QI-XIN SHI
Keyword(s):  
Stability Analysis ◽  
Traffic Flow ◽  
Autonomous Vehicles ◽  
Driver Model ◽  
Stable Region ◽  
Local Perturbation ◽  
Distance Information ◽  
Car Following ◽  
Simulation Results ◽  
The Stability

This paper discusses three kinds of IDM car-following models that consider both the multi-anticipative behaviors and the reaction delays of drivers. Here, the multi-anticipation comes from two ways: (1) the driver is capable of evaluating the dynamics of several preceding vehicles, and (2) the autonomous vehicles can obtain the velocity and distance information of several preceding vehicles via inter-vehicle communications. In this paper, we study the stability of homogeneous traffic flow. The linear stability analysis indicates that the stable region will generally be enlarged by the multi-anticipative behaviors and reduced by the reaction delays. The temporal amplification and the spatial divergence of velocities for local perturbation are also studied, where the results further prove this conclusion. Simulation results also show that the multi-anticipative behaviors near the bottleneck will lead to a quicker backwards propagation of oscillations.

Stability Analysis of a Reach Truck

2009 ◽  
Author(s):  
Jong-Su Bae ◽  
Taewung Kim ◽  
Hyun-Yong Jeong
Keyword(s):  
Stability Analysis ◽  
Variational Method ◽  
Potential Function ◽  
Fe Simulation ◽  
Safety Concern ◽  
Mathematical Tool ◽  
Total Potential ◽  
Pitch Direction ◽  
Simulation Results ◽  
The Stability

There is a need for a higher mast of a reach truck in the market, but a higher mast brings a safety concern. Usually, it is more plausible to fall in the roll direction than in the pitch direction. Since a reach truck with a high mast is a heavy and its center of gravity is high, it is not easy to conduct tests to evaluate its stability. If there is a mathematical tool to evaluate the stability of a reach truck, it is easy to evaluate a design in terms of stability and to modify the design in order to increase its stability. In this study, a variational method using a total potential function was used to make a mathematical means to evaluate the stability of a reach truck. By using the mathematical means the stability of a reach truck was evaluated and compared with FE simulation results.

scholarly journals Switching Signal Design for Global Exponential Stability of Uncertain Switched Neutral Systems

2009 ◽  
Vol 2009 ◽  
pp. 1-17 ◽  
Author(s):  
Ker-Wei Yu
Keyword(s):  
Exponential Stability ◽  
Global Exponential Stability ◽  
Signal Design ◽  
Neutral Systems ◽  
Numerical Examples ◽  
Switching Signal ◽  
The Stability ◽  
Switched Neutral Systems ◽  
Delay Dependent ◽  
Stability Results

The switching signal design for global exponential stability of switched neutral systems is investigated in this paper. LMI-based delay-dependent and delay-independent criteria are proposed to guarantee the global stability via the constructed switching signal. Razumikhin-like approach is used to find the stability results. Finally, some numerical examples are illustrated to show the main results.

scholarly journals Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

2021 ◽  
Vol 54 (4) ◽  
pp. 641-647
Author(s):  
Mukul Kumar Gupta ◽  
Roushan Kumar ◽  
Varnita Verma ◽  
Abhinav Sharma
Keyword(s):  
Stability Analysis ◽  
Robust Control ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Torque Control ◽  
Control Technique ◽  
Control Law ◽  
Worst Case ◽  
Control Techniques ◽  
The Stability

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

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