A Whole-body Path-following Feedback Control Method for a Multi-steering Snake-like Robot Based on Lyapunov Stability Theory

2020 ◽  
Vol 56 (9) ◽  
pp. 442-453
Author(s):  
Yuki KAGAMIDO ◽  
Hiroaki YAMAGUCHI ◽  
Naoaki YONEZAWA
Keyword(s):  
Feedback Control ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Control Method ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Whole Body ◽  
Feedback Control Method

scholarly journals On Full-State Hybrid Projective Synchronization of General Discrete Chaotic Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Adel Ouannas
Keyword(s):  
Lyapunov Stability ◽  
Discrete Time ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Projective Synchronization ◽  
Full State ◽  
Hybrid Projective Synchronization ◽  
Nonlinear Control Method

The problems of full-state hybrid projective synchronization (FSHPS) and inverse full-state hybrid projective synchronization (IFSHPS) for general discrete chaotic systems are investigated in 2D. Based on nonlinear control method and Lyapunov stability theory, new controllers are designed to study FSHPS and IFSHPS, respectively, for 2D arbitrary chaotic systems in discrete-time. Numerical example and simulations are used to validate the main results of this paper.

scholarly journals Linear Feedback Synchronization Used in the Three-Dimensional Duffing System

2015 ◽  
Vol 2015 ◽  
pp. 1-7
Author(s):  
Jian-qun Han ◽  
Xu-dong Shi ◽  
Hong Sun
Keyword(s):  
Feedback Control ◽  
Chaotic System ◽  
Control Method ◽  
Three Dimensional ◽  
Lyapunov Stability Theory ◽  
Linear Feedback ◽  
Nonlinear Feedback ◽  
Linear Feedback Control ◽  
Duffing System ◽  
Feedback Control Method

It has been realized that synchronization using linear feedback control method is efficient compared to nonlinear feedback control method due to the less computational complexity and the synchronization error. For the problem of feedback synchronization of Duffing chaotic system, in the paper, we firstly established three-dimensional Duffing system by method of variable decomposition and, then, studied the synchronization of Duffing chaotic system and designed the control law based on linear feedback control and Lyapunov stability theory. It is proved theoretically that the two identical integer order chaotic systems are synchronized analytically and numerically.

Robust Finite-Time Stabilization of Fractional-Order Chaotic Systems based on Fractional Lyapunov Stability Theory

2012 ◽  
Vol 7 (2) ◽  
Author(s):  
Mohammad Pourmahmood Aghababa
Keyword(s):  
Fractional Order ◽  
Lyapunov Stability ◽  
Finite Time ◽  
Stability Theory ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Convergence Time ◽  
Control Approach ◽  
Finite Time Stability

This paper concerns the problem of stabilization of uncertain fractional-order chaotic systems in finite time. On the basis of fractional Lyapunov stability theory, a robust finite-time fractional controller is introduced to control chaos of fractional-order chaotic systems in the presence of system uncertainties. The finite-time stability of the closed-loop system is analytically proved. An estimation of the convergence time is also given. Some numerical simulations are provided to illustrate the usefulness and applicability of the proposed robust finite-time control approach. It is worth noting that the proposed fractional control method is applicable for stabilizing a broad range of uncertain fractional-order nonlinear systems in a given finite time.

scholarly journals Hybrid Chaos Synchronization of Four–Scroll Systems via Active Control

2014 ◽  
Vol 65 (2) ◽  
pp. 97-103 ◽  
Author(s):  
Rajagopal Karthikeyan ◽  
Vaidyanathan Sundarapandian
Keyword(s):  
Numerical Simulations ◽  
Active Control ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Chaos Synchronization ◽  
Chaotic Systems ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Hybrid Synchronization ◽  
Active Control Method

Abstract This paper investigates the hybrid chaos synchronization of identical Wang four-scroll systems (Wang, 2009), identical Liu-Chen four-scroll systems (Liu and Chen, 2004) and non-identical Wang and Liu-Chen four-scroll systems. Active control method is the method adopted to achieve the hybrid chaos synchronization of the four-scroll chaotic systems addressed in this paper and our synchronization results are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the active control method is effective and convenient to hybrid synchronize identical and different Wang and Liu-Chen four-scroll chaotic systems. Numerical simulations are also shown to illustrate and validate the hybrid synchronization results derived in this paper.

ANTI-SYNCHRONIZATION OF UNIFIED HYPERCHAOTIC SYSTEMS

2014 ◽  
Vol 28 (05) ◽  
pp. 1450014
Author(s):  
PI LI ◽  
XING-YUAN WANG ◽  
PENG SUN ◽  
CHAO LUO ◽  
XIU-KUN WANG
Keyword(s):  
Adaptive Control ◽  
Active Control ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Control Method ◽  
Lyapunov Stability Theory ◽  
Control Methods ◽  
System Parameters ◽  
Hyperchaotic Systems ◽  
Active Control Method

In this paper, active control and adaptive control methods are applied, respectively. Adaptive control method is implemented when system parameters are unknown and active control method is applied when system parameters are known. Based on the Lyapunov stability theory, the controllers are designed to realize anti-synchronization, meanwhile, the update laws of parameters are proposed. The theoretical proof is given. And two groups of examples are shown to verify the effectiveness of the proposed schemes.

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