scholarly journals On the Analysis of Damped Gyroscopic Systems Using Lyapunov Direct Method

2021 ◽  
pp. 63-74
Author(s):  
Ubong D. Akpan
Keyword(s):  
Direct Method ◽  
Stability Conditions ◽  
Lyapunov Direct Method ◽  
Gyroscopic Effect ◽  
Stability Properties ◽  
The Stability ◽  
Gyroscopic Systems

In this work, the stability properties of damped gyroscopic systems have been studied using Lyapunov direct method. These systems are generally stable because of the presence of gyroscopic effect. Conditions for determining the stability of the damped gyroscopic systems have been developed. Solution bounds of amplitude and velocity have been obtained for both homogeneous and inhomogeneous cases. An example is given to show how the stability conditions are applied to systems to determine its stability status.

scholarly journals Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

Meccanica ◽  
2021 ◽  
Author(s):  
Dóra Patkó ◽  
Ambrus Zelei
Keyword(s):  
Degrees Of Freedom ◽  
Direct Method ◽  
Tracking Error ◽  
Inverse Kinematic ◽  
Linear Feedback ◽  
Joint Position ◽  
Stability Properties ◽  
Acceleration Level ◽  
Error Elimination ◽  
The Stability

AbstractFor both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-redundant case. We study the stability properties and the feasibility of a tracking error feedback and a direct tracking error elimination approach of the numerical implementation of IK calculation both on velocity and acceleration levels. The feedback approach expresses the joint position increment stepwise based on the local velocity or acceleration of the desired TCP trajectory and linear feedback terms. In the direct error elimination concept, the increment of the joint position is directly given by the approximate error between the desired and the realized TCP position, by assuming constant TCP velocity or acceleration. We investigate the possibility of the implementation of the direct method on acceleration level. The investigated IK methods are unified in a framework that utilizes the idea of the auxiliary input. Our closed form results and numerical case study examples show the stability properties, benefits and disadvantages of the assessed IK implementations.

scholarly journals Stability of Fractional Differential Equations with New Generalized Hattaf Fractional Derivative

2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Khalid Hattaf
Keyword(s):  
Stability Analysis ◽  
Differential Equations ◽  
Fractional Derivative ◽  
Fractional Differential Equations ◽  
Fractional Derivatives ◽  
Direct Method ◽  
Lyapunov Direct Method ◽  
Science And Engineering ◽  
Fractional Differential ◽  
The Stability

This paper aims to study the stability of fractional differential equations involving the new generalized Hattaf fractional derivative which includes the most types of fractional derivatives with nonsingular kernels. The stability analysis is obtained by means of the Lyapunov direct method. First, some fundamental results and lemmas are established in order to achieve the goal of this study. Furthermore, the results related to exponential and Mittag–Leffler stability existing in recent studies are extended and generalized. Finally, illustrative examples are presented to show the applicability of our main results in some areas of science and engineering.

scholarly journals Asymptotic Stability of Distributed-Order Nonlinear Time-Varying Systems with the Prabhakar Fractional Derivatives

2020 ◽  
Vol 2020 ◽  
pp. 1-8 ◽  
Author(s):  
MohammadHossein Derakhshan ◽  
Azim Aminataei
Keyword(s):  
Asymptotic Stability ◽  
Fractional Derivatives ◽  
Direct Method ◽  
Time Varying ◽  
Lyapunov Direct Method ◽  
Fractional Differential Systems ◽  
Time Varying Systems ◽  
Fractional Differential ◽  
The Stability ◽  
Distributed Order

In this article, we survey the Lyapunov direct method for distributed-order nonlinear time-varying systems with the Prabhakar fractional derivatives. We provide various ways to determine the stability or asymptotic stability for these types of fractional differential systems. Some examples are applied to determine the stability of certain distributed-order systems.

Stable Control of Multi-link Manipulator Using Collision Phenomena

1991 ◽  
Vol 3 (6) ◽  
pp. 482-490
Author(s):  
Yasumasa Shoji ◽  
◽  
Makoto Inaba ◽  
Toshio Fukuda ◽  
Hidemi Hosokai ◽  
...  
Keyword(s):  
Lyapunov Method ◽  
Direct Method ◽  
Type Model ◽  
Lyapunov Direct Method ◽  
Loss Parameter ◽  
Flexible Wall ◽  
Stabilization Effect ◽  
The Stability ◽  
The Impact ◽  
Stable Control

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a multi-link manipulator system, which is positioned on a flexible wall, with collision phenomenon. The stability and response of the system are examined by parameter studies of numerical simulation. Because industrial demands for rapid motion of robotics have been increasing in order to achieve higher efficiency, collision has become a problem because every task involves contact when a manipulator interacts with an object. However, few research has been initiated to overcome this problem. In this paper, we employ a Hertz-type model which includes an energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we have verified the stabilization effect of collision by the Lyapunov method. The effect has been confirmed by simulation. As a result, stable positioning of the manipulator on a flexible wall is assured, and the use of collision is sometimes effective to control the manipulator to performs tasks with rapid contact.

On the Stability of Some Linear Nonautonomous Random Systems

1968 ◽  
Vol 35 (1) ◽  
pp. 7-12 ◽  
Author(s):  
E. F. Infante
Keyword(s):  
Random Systems ◽  
Second Order ◽  
Stability Conditions ◽  
Almost Sure Stability ◽  
Stability Properties ◽  
The Stability ◽  
Second Order Equations

A theorem and two corollaries for the almost sure stability of linear nonautonomous random systems are presented. These results are applied to the study of the stability properties of some often encountered second-order equations and the obtained stability conditions are compared to previously known criteria.

Chaos Synchronization of Fractional-Order Chaotic Systems With Input Saturation

2018 ◽  
Vol 13 (9) ◽  
Author(s):  
Pitcha Khamsuwan ◽  
Teerawat Sangpet ◽  
Suwat Kuntanapreeda
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Direct Method ◽  
Input Saturation ◽  
Linear Matrix ◽  
Stability Conditions ◽  
Sufficient Stability ◽  
Local Sector ◽  
The Stability ◽  
Synchronization Scheme

This paper deals with the problem of master-slave synchronization of fractional-order chaotic systems with input saturation. Sufficient stability conditions for achieving the synchronization are derived from the basis of a fractional-order extension of the Lyapunov direct method, a new lemma of the Caputo fractional derivative, and a local sector condition. The stability conditions are formulated in linear matrix inequality (LMI) forms and therefore are readily solved. The fractional-order chaotic Lorenz and hyperchaotic Lü systems with input saturation are utilized as illustrative examples. The feasibility of the proposed synchronization scheme is demonstrated through numerical simulations.

scholarly journals CENTRAL EQUILIBRIA IN MULTILOCUS SYSTEMS. II. BISEXUAL GENERALIZED NONEPISTATIC SELECTION MODELS

Genetics ◽  
1979 ◽  
Vol 91 (4) ◽  
pp. 799-816
Author(s):  
Samuel Karlin ◽  
Uri Liberman
Keyword(s):  
Arithmetic Mean ◽  
Sexual Differences ◽  
Stability Conditions ◽  
Male And Female ◽  
Stability Properties ◽  
Selection Regime ◽  
Existence And Stability ◽  
The Stability ◽  
Linkage Relationships ◽  
Weighted Combination

ABSTRACT This paper is a continuation of the paper "Central Equilibria in Multilocus Systems I," concentrating on existence and stability properties accruing to central H-W type equilibria in multilocus bisexual systems acted on by generalized nonepistatic selection forces coupled to recombination events. The stability conditions are discussed and interpreted in three perspectives, and the influence of sexual differences in linkage relationships together with sex-dependent selection is appraised. In this case we deduce that the stability conditions of the H-W polymorphism in the bisexual model coincide exactly with the conditions for the corresponding monoecious model, provided that the recombination distribution imposed is that of the arithmetic mean of the male and female recombination distributions. A second concern has the same recombination distribution for both sexes, but contrasting selection regimes between sexes. It is then established that, with respect to discerning the relevance of the H-W equilibrium, there is an equivalent monoecious selection regime which is an appropriate "weighted combination" of the male and female selection forms. Finally, in the case where the selection and recombination structures are both sex dependent, a hierarchy of comparisons is elaborated, seeking to unravel the nature of selection-recombination interaction for monoecious versus diocecious systems.

scholarly journals On the Stability of Some Discrete Fractional Nonautonomous Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-9 ◽  
Author(s):  
Fahd Jarad ◽  
Thabet Abdeljawad ◽  
Dumitru Baleanu ◽  
Kübra Biçen
Keyword(s):  
Asymptotic Stability ◽  
Global Stability ◽  
Direct Method ◽  
Uniform Stability ◽  
Lyapunov Direct Method ◽  
Uniform Asymptotic Stability ◽  
Fractional Difference ◽  
Nonautonomous Systems ◽  
The Stability

Using the Lyapunov direct method, the stability of discrete nonautonomous systems within the frame of the Caputo fractional difference is studied. The conditions for uniform stability, uniform asymptotic stability, and uniform global stability are discussed.

scholarly journals Stability of rigid body motion through an extended intermediate axis theorem: application to rockfall simulation

2021 ◽  
Author(s):  
Remco I. Leine ◽  
Giuseppe Capobianco ◽  
Perry Bartelt ◽  
Marc Christen ◽  
Andrin Caviezel
Keyword(s):  
Rigid Body ◽  
Direct Method ◽  
Lateral Spreading ◽  
The Body ◽  
Body Motion ◽  
Numerical Schemes ◽  
Stability Properties ◽  
Principal Axes ◽  
Rockfall Simulation ◽  
The Stability

AbstractThe stability properties of a freely rotating rigid body are governed by the intermediate axis theorem, i.e., rotation around the major and minor principal axes is stable whereas rotation around the intermediate axis is unstable. The stability of the principal axes is of importance for the prediction of rockfall. Current numerical schemes for 3D rockfall simulation, however, are not able to correctly represent these stability properties. In this paper an extended intermediate axis theorem is presented, which not only involves the angular momentum equations but also the orientation of the body, and we prove the theorem using Lyapunov’s direct method. Based on the stability proof, we present a novel scheme which respects the stability properties of a freely rotating body and which can be incorporated in numerical schemes for the simulation of rigid bodies with frictional unilateral constraints. In particular, we show how this scheme is incorporated in an existing 3D rockfall simulation code. Simulations results reveal that the stability properties of rotating rocks play an essential role in the run-out length and lateral spreading of rocks.

scholarly journals Stability analysis of mechanical systems with distributed delay via decomposition

2021 ◽  
Vol 17 (1) ◽  
pp. 13-26
Author(s):  
Alexander Yu. Aleksandrov ◽  
◽  
Alexey A. Tikhonov ◽  
Keyword(s):  
Stability Analysis ◽  
Direct Method ◽  
Distributed Delay ◽  
Original System ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Lyapunov Direct Method ◽  
First Order ◽  
Linear Mechanical System ◽  
The Stability

The article analyzes a linear mechanical system with a large parameter at the vector of velocity forces and a distributed delay in positional forces. With the aid of the decomposition method, conditions are obtained under which the problem of stability analysis of the original system of the second-order differential equations can be reduced to studying the stability of two auxiliary first-order subsystems. It should be noted that one of the auxiliary subsystems does not contain a delay, whereas for the second subsystem containing a distributed delay, the stability conditions are formulated in terms of the feasibility of systems of linear matrix inequalities. To substantiate this decomposition, the Lyapunov direct method is used. Special constructions of Lyapunov—Krasovskii functionals are proposed. The developed approach is applied to the problem of monoaxial stabilization of a rigid body. The results of a numerical simulation are presented confirming the conclusions obtained analytically.

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