Abstract
In this paper, a general method for constructing time-varying Lyapunov functions is provided for mechanical systems. A new class of time-varying Lyapunov functions is provided and sufficient conditions of uniform asymptotical stability are established. Different from the existing results on this subject, we remove the periodic restrictions and persistency of excitation restrictions in our work. Moreover, the results are extended into the robustness cases with unmodeled dynamics. Based on the Lyapunov methods, it is shown that uniform asymptotical stability can be obtained by using the control input provided in our work.
| Original language | English |
|---|---|
| Pages (from-to) | 241-244 |
| Number of pages | 4 |
| Journal | Journal of Robotics, Networking and Artificial Life |
| Volume | 5 |
| Issue number | 4 |
| DOIs | |
| State | Published - Mar 2019 |
Keywords
- Mechanical systems
- strict Lyapunov function
- subsystems
- time-varying systems
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