The objective of this investigation is the development
of improved techniques for the estimation of robustness for
dynamic systems with structured uncertainties, a problem
which was approached by application of the Lyapunov direct
method. This thesis considers the sign properties of the
Lyapunov function derivative integrated along finite intervals
of...
The development of modern industries calls for the
robotic manipulators with high speed and accurate tracking
performance. Many authors have paid attention to robust
control of robotic manipulators; however, only few authors
have also considered the control problem of manipulators
with power limitation.
In this dissertation, the robotic manipulator is...
An investigation focusing on methods of estimation
of robustness of nominally linear dynamic systems with
unstructured uncertainties was performed.
The algorithm proposed involves the consideration
of an associated system, selection, and subsequent
development, of Liapunov function candidate and integration
of their derivatives along the solution trajectory.
A nominally linear multi-dimensional...
The Lyapunov direct method is utilized to determine the
robustness bounds for nonlinear, time-variant uncertainies
p[subscript i]. Determination of the robustness bounds consists of two
principal steps: (i) generation of a Lyapunov function and
(ii) determination of the bounds based on the generated
Lyapunov function. Presently in robustness investigations,
a...