this paper considers the problem of stable limit cycles generating in a class of uncertain nonlinear systems which leads to stable oscillations in the system’s output.this is a wanted behavior in many practical engineering problems. for this purpose, first the equation of the desirable limit cycle is achieved according to shape, amplitude and frequency of the required output oscillations. then,...

This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach ...

In this paper, the model reference adaptive control for a flexible structure is investigated. Any mechanically flexible structures are inherently distributed parameter systems whose dynamics are described by partial, rather than ordinary, differential equations. Adaptation laws are derived by the Lyapunov redesign method on an infinite dimensional Hilbert space. Combined state and parameter est...

The concept of control Lyapunov function has proven a useful tool for designing robust control laws for nonlinear systems. Recently, this concept has been extended to time-delay systems in the form of Control Lyapunov Razumikhin functions and Control Lyapunov Krasovsky functionals (CLKF). Universal formulas, such as Sontag's formula and domination redesign formula, apply to CLKF's and achieve r...

The concept of control Lyapunov functions (CLF) has recently been extended to time delay system in the form of control Lyapunov-Razumikhin functions (CLRF) and control Lyapunov-Krasovsky functionals (CLKF). If a CLKF is known for a nonlinear time delay system, several stabilizing control laws can be constructed using one of the universal formulas derived for CLF’s. In this paper we establish a ...

This paper presents the design of an additive fault tolerant control for nonlinear time-invariant singularly perturbed systems against actuator faults based on Lyapunov redesign principle. The overall system is reduced into subsystems with fast and slow dynamic behavior using singular perturbation method. The time scale reduction is carried out when the singular perturbation parameter is set to...