Authors
Bin Zhang1, *, Yingmin Jia2
1
School of Automation, Beijing University of Posts and Telecommunications, Haidian District, Beijing 1008760, China
2
The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Haidian District, Beijing 100191, China
*
Corresponding author. Email. [email protected]
Corresponding Author
Bin Zhang
Received 28 October 2018, Accepted 21 November 2018, Available Online 30 March 2019.
DOI
https://doi.org/10.2991/jrnal.k.190220.007How to use a DOI?
Keywords
Mechanical systems; time-varying systems; strict Lyapunov function; subsystems
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.

Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).