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JACIII Vol.14 No.2 pp. 224-236
doi: 10.20965/jaciii.2010.p0224
(2010)

Paper:

Replacement of Lyapunov Function by Locally Convergent Robust Fixed Point Transformations in Model-Based Control a Brief Summary

József K. Tar

Transportation Informatics and Telematics Knowledge Centre, Óbuda University H-1034 Budapest, Bécsi út 96/B, Hungary

Received:
November 23, 2009
Accepted:
January 28, 2010
Published:
March 20, 2010
Keywords:
Lyapunov function, adaptive inverse dynamics controller, Slotine-Li adaptive controller, robust fixed point transformations, iterative control
Abstract

Lyapunov’s 2nd Method is a popular approach in the model-based control of nonlinear systems since normally it can guarantee global asymptotic stability. However, the cost of the application of Lyapunov function frequently can be inefficient and complicated parameter tuning process containing unnecessary number of almost arbitrary control parameters, and vulnerability of the tuning process against not modeled, unknown external disturbances. Improved versions of the original, model-based tuning are especially sensitive to the external perturbations. All these disadvantages can simply be avoided by the application of robust fixed point transformations at the cost of giving up the guarantee of global asymptotic stability. Instead of that simple, stable iterative control of local basin of attraction can be constructed on the basis of an approximate system model that can well compensate the effects of unknown external disturbances, too. Since the basin of convergence of the method in principle can be left, setting the three adaptive parameters of this controller needs preliminary simulation investigations. These statements are illustrated and substantiated via simulation results obtained for the adaptive control of various physical systems.

Cite this article as:
József K. Tar, “Replacement of Lyapunov Function by Locally Convergent Robust Fixed Point Transformations in Model-Based Control a Brief Summary,” J. Adv. Comput. Intell. Intell. Inform., Vol.14, No.2, pp. 224-236, 2010.
Data files:
References
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