2024/05/15 by Manuel A. Estrada, Estrada, Manuel A., Claudia A. Pérez-Pinacho +5
Computer Science · Engineering · #Advanced Control Systems Optimization #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2405.09438
openalex publication_date 2024/05/15 · openalex created_date 2024/05/17 · openalex updated_date 2026/07/28
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea of Lyapunov redesign is used to propose an adaptive time-varying gain controller to stabilize a class of perturbed chain of integrators with an unknown control coefficient. It is assumed that the upper bound of the perturbation exists but is unknown. A proportional navigation feedback type gain is used to drive the system's trajectories into a prescribed vicinity of the origin in a predefined time, measured using a quadratic Lyapunov function. Once this neighborhood is reached, a barrier function-based gain is used, ensuring that the system's trajectories never leave this neighborhood despite uncertainties and perturbations. Experimental validation of the proposed controller in Furuta's pendulum is presented.