| 1. | Means of testing the terms of lyapunov function
验证李亚普诺夫函数条件的几种方法 |
| 2. | The decentralized adaptive controller is designed and the adaptive parameters are decided by the lyapunov function in order to assure the system is stable
该控制器对系统各通道进行分散式控制,利用李亚普诺夫函数的确定过程求解各自适应参数表达式,以保证了系统的稳定性。 |
| 3. | The sliding mode function can be educed by constructing a lyapunov function . and the theory of fuzzy control is used to solve the sliding mode vibration problem
通过构造李亚普诺夫函数得出切变流形函数，得到一种开关控制，利用模糊控制克服了常规开关控制所固有的抖振现象。 |
| 4. | Intelligent pid can be regarded as a hybrid control . then the hybrid model , lyapunov theorem for hybrid control systems are studied and two methods of designing hybrid control which make sure the hybrid control system stable are also introduced
总结了保证整个混杂控制系统李亚普诺夫意义上(指数)稳定的两种混杂控制器设计方法以及如何通过求解lmis获得李亚普诺夫函数的方法。 |
| 5. | By utilizing the approximation capability of fuzzy systems , backstepping technique and integral - type lyapunov function , each virtual control and the adaptation law of the adjustable parameters in the fuzzy systems are determined in turn . in the end , the control law is determined
利用模糊系统的逼近能力，后推设计方法及积分型李亚普诺夫函数，依次确定各虚拟控制及模糊系统中的可调参数的自适应律，并最终确定出控制律。 |
| 6. | Firstly , based on a modified lyapunov function and the approximation capability of the first type fuzzy systems , two new design schemes of decentralized adaptive fuzzy controller for two class of similar multivariable nonlinear continuous systems with a triangular matrix function control structure is proposed in this paper , respectively
本文首先对两类结构相似的具有下三角形矩阵函数控制增益的多变量非线性连续系统，基于一种修改的李亚普诺夫函数，并利用第一类模糊系统(即具有线性可调参数的模糊系统)的逼近能力，分别提出一种分散自适应模糊控制器设计的方案。 |
| 7. | ( 2 ) a robust adaptive controller with l 2 - gain is derived for a class of siso cascaded nonlinear uncertain systems with zero dynamics . the state feedback controller guarantees that the closed - loop system is input - to - state stable and the l 2 - gain from the disturbance input to the controlled output is not larger than a prescribed value for all admissible parameter uncertainties
( 2 )针对一类具有零动态siso串联不确定非线性系统，结合h _控制和自适应控制并利用李亚普诺夫函数递推设计方法设计了状态反馈h _鲁棒自适应控制器，避免了求解hji不等式设计控制器的困难。 |
| 8. | Finally , the closed loop control strategy through nonlinear states feedback is designed by a lyapunov function for the averaged system and realize the position control of the non - holonomic robot . the simulation results show that the open - loop control method based on neural network and the feedback control method of the position are effective
仿真结果表明本文设计的基于神经网络的位置开环控制方法及针对简化哈尔滨工程大学博士学位论文后的平均系统设计的基于李亚普诺夫函数方法的非驱动臂任意位置臂环控制是非常有效的。 |
| 9. | In ship steering controller design , the nonlinear ship model should be written in siso strict feedback form . we start the recursive design with the system first state variable and continue with the second one . by introducing a change of coordinates , we choose lyapunov functions to stabilize the system and obtain the control law
在船舶航向控制方面，考虑船舶的稳态回转非线性，应用backstepping方法设计：首先把系统化成单入单出的严格反馈控制形式(呈下三角结构) ，假设系统后一个状态变量是前一个状态变量的虚拟控制，通过适当的变量代换，在每一步构造李亚普诺夫函数，使前一子系统在虚拟控制下渐近稳定，逐步递推出控制器控制规律，使整个系统在平衡点满足一致渐近稳定性。 |
