类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

Stability of time-delay systems via Lyapunov functions

In this paper, a Lyapunov function candidate is introduced for multivariable systems with inner delays, without assuming a priori stability for the nondelayed subsystem. By using this Lyapunov function, a controller is deduced. Such a controller utilizes an input-output description of the original system, a circumstance that facilitates practical applications of the proposed approach.

Scaling relations in the Lyapunov exponents of one dimensional maps

We establish numerically the validity of Huberman-Rudnick scaling relation for Lyapunov exponents during the period doubling route to chaos in one dimensional maps. We extend our studies to the context of a combination map. where the scaling index is found to be different.

Bifurcation structure and Lyapunov exponents of a modulated logistic map

We have studied the bifurcation structure of the logistic map with a time dependant control parameter. By introducing a specific nonlinear variation for the parameter, we show that the bifurcation structure is modified qualitatively as well as quantitatively from the first bifurcation onwards. We have also computed the two Lyapunov exponents of the system and find that the modulated logistic map is less chaotic compared to the logistic map.

An analytical relation between entropy production and quantum Lyapunov exponents for Gaussian bipartite systems

We study and compare the information loss of a large class of Gaussian bipartite systems. It includes the usual Caldeira-Leggett-type model as well as Anosov models ( parametric oscillators, the inverted oscillator environment, etc), which exhibit instability, one of the most important characteristics of chaotic systems. We establish a rigorous connection between the quantum Lyapunov exponents and coherence loss, and show that in the case of unstable environments coherence loss is completely determined by the upper quantum Lyapunov exponent, a behavior which is more universal than that of the Caldeira-Leggett-type model.

Short Lyapunov time: a method for identifying confined chaos

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Parameter-dependent Lyapunov functions for state-derivative feedback control in polytopic linear systems

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Estimativa de expoentes críticos em Percolação

In Percolation Theory, functions like the probability that a given site belongs to the infinite cluster, average size of clusters, etc. are described through power laws and critical exponents. This dissertation uses a method called Finite Size Scaling to provide a estimative of those exponents. The dissertation is divided in four parts. The first one briefly presents the main results for Site Percolation Theory for d = 2 dimension. Besides, some important quantities for the determination of the critical exponents and for the phase transistions understanding are defined. The second shows an introduction to the fractal concept, dimension and classification. Concluded the base of our study, in the third part the Scale Theory is mentioned, wich relates critical exponents and the quantities described in Chapter 2. In the last part, through the Finite Size Scaling method, we determine the critical exponents fi and. Based on them, we used the previous Chapter scale relations in order to determine the remaining critical exponents

Lap number properties for p-Laplacian problems investigated by Lyapunov methods

In this work we consider a one-dimensional quasilinear parabolic equation and we prove that the lap number of any solution cannot increase through orbits as the time passes if the initial data is a continuous function. We deal with the lap number functional as a Lyapunov function, and apply lap number properties to reach an understanding on the asymptotic behavior of a particular problem. (c) 2006 Published by Elsevier Ltd.

Variable structure control of switched systems based on Lyapunov-Metzler-SPR systems

This paper presents two Variable Structure Controllers (VSC) for continuous-time switched plants. It is assumed that the state vector is available for feedback. The proposed control system provides a switching rule and also the variable structure control input. The design is based on Lyapunov-Metzler (LM) inequalities and also on Strictly Positive Real (SPR) systems stability results. The definition of Lyapunov-Metzler-SPR (LMS) systems and its direct application in the design of VSC for switched systems are introduced in this paper. Two examples illustrate the design of the proposed VSC, considering a plant given by a switched system with a switched-state control law and two linear time-invariant systems, that are not controllable and also can not be stabilized with state feedback. ©2008 IEEE.

Improving the stability conditions of TS fuzzy systems with fuzzy Lyapunov functions

In this paper, the fuzzy Lyapunov function approach is considered for stabilizing continuous-time Takagi-Sugeno fuzzy systems. Previous linear matrix inequality (LMI) stability conditions are relaxed by exploring further the properties of the time derivatives of premise membership functions and by introducing a slack LMI variable into the problem formulation. The stability results are thus used in the state feedback design which is also solved in terms of LMIs. Numerical examples illustrate the efficiency of the new stabilizing conditions presented. © 2011 IFAC.

Reducing the conservatism of LMI-based stabilisation conditions for TS fuzzy systems using fuzzy Lyapunov functions

In this article, the fuzzy Lyapunov function approach is considered for stabilising continuous-time Takagi-Sugeno fuzzy systems. Previous linear matrix inequality (LMI) stability conditions are relaxed by exploring further the properties of the time derivatives of premise membership functions and by introducing slack LMI variables into the problem formulation. The relaxation conditions given can also be used with a class of fuzzy Lyapunov functions which also depends on the membership function first-order time-derivative. The stability results are thus extended to systems with large number of rules under membership function order relations and used to design parallel-distributed compensation (PDC) fuzzy controllers which are also solved in terms of LMIs. Numerical examples illustrate the efficiency of the new stabilising conditions presented. © 2013 Copyright Taylor and Francis Group, LLC.

Análise da estabilidade de sistemas fuzzy Takagi-Sugeno utilizando as desigualdades de Lyapunov-Metzler

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Existência da função de Lyapunov

Pós-graduação em Matemática - IBILCE

Controle de sistemas lineares incertos via realimentação derivativa utilizando Funções de Lyapunov dependentes de parâmetros

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)