A Lyapunov Function for the Robust Second Order Differentiator
نویسنده
چکیده
In this paper we obtain a homogeneous, continuous, quadratic and strict Lyapunov function for Levant’s Second Order Differentiator. Since its derivative is a non quadratic, discontinuous, homogeneous form its negative definiteness is determined using some new inequalities, providing coarser bounds than Young’s inequalities.
منابع مشابه
Systematic Approach to Design a Finite Time Convergent Differentiator in Second Order Sliding Mode Controller
This paper presents a systematic approach to design a Lyapunov based super twisting differentiator. The differentiator will be shown convergent in a finite time whilst the relevant time is accurately estimated. This differentiator is the main part to establish the sliding surface in higher order sliding mode. The differentiator is used in the prescribed control structure to regulate pressure...
متن کاملLyapunov-Based Robust Power Controllers for a Doubly Fed Induction Generator
In this work, a robust nonlinear control technique of a doubly fed induction generator (DFIG) intended for wind energy systems has been proposed. The principal idea in this article is to decouple the active and reactive power of the DFIG with high robustness using the backstepping strategy. The principle of this control method is based on the Lyapunov function, in order to guarantee the global ...
متن کاملFunction Approximation Approach for Robust Adaptive Control of Flexible joint Robots
This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...
متن کاملDesign of Observer-based H∞ Controller for Robust Stabilization of Networked Systems Using Switched Lyapunov Functions
In this paper, H∞ controller is synthesized for networked systems subject to random transmission delays with known upper bound and different occurrence probabilities in the both of feedback (sensor to controller) and forward (controller to actuator) channels. A remote observer is employed to improve the performance of the system by computing non-delayed estimates of the sates. The closed-loop s...
متن کاملAn Adaptive Block Backstepping Controller for Attitude Stabilization of a Quadrotor Helicopter
-A new block backstepping controller is proposed to solve the attitude stabilization problem for a quadrotor helicopter. The attitude kinematical model is obtained and translated into a MIMO nonlinear system with generalized uncertainties. Under the consideration of the coupling between the attitude angles, a nominal block backstepping controller is designed. The obtained controller is then aug...
متن کامل