A Lyapunov stability proof for nonlinear-stiffness PD control.
Brian ArmstrongJoseph McPhersonYonggang LiPublished in: ICRA (1996)
Keyphrases
- lyapunov stability
- lyapunov function
- control method
- optimal control
- nonlinear systems
- control system
- sliding mode
- tracking error
- neural network
- control law
- stability analysis
- sufficient conditions
- sliding mode controller
- control algorithm
- sliding mode control
- control theory
- feedback control
- adaptive fuzzy
- closed loop