A new strict Lyapunov function for fully-actuated mechanical systems controlled by IDA-PBC.
José Ángel AcostaElena PanteleyRomeo OrtegaPublished in: CCA/ISIC (2009)
Keyphrases
- mechanical systems
- lyapunov function
- control law
- motion planning
- nonlinear systems
- sufficient conditions
- closed loop
- optimal control
- adaptive control
- control method
- degrees of freedom
- control algorithm
- control strategy
- mobile robot
- control system
- control scheme
- hopfield neural network
- neural network
- gait analysis
- multi robot
- path planning
- stability analysis
- humanoid robot
- fuzzy control
- linear model
- motion analysis
- genetic algorithm