Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems | Zendy

Samir Adly | Zendy; Bernard Brogliato | Zendy; Ba Khiet Le | Zendy

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Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems

Author(s) -

Samir Adly,

Bernard Brogliato,

Ba Khiet Le

Publication year - 2013

Publication title -

siam journal on control and optimization

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.486

H-Index - 116

eISSN - 1095-7138

pISSN - 0363-0129

DOI - 10.1137/120872450

Subject(s) - uniqueness , mathematics , robustness (evolution) , invariance principle , lagrangian , lyapunov function , control theory (sociology) , convergence (economics) , stability (learning theory) , lyapunov stability , controller (irrigation) , mathematical analysis , computer science , control (management) , nonlinear system , philosophy , artificial intelligence , economic growth , linguistics , chemistry , biochemistry , quantum mechanics , machine learning , physics , economics , gene , biology , agronomy

International audienceThis paper deals with the analysis of a class of nonsmooth robust controllers for Lagrangian systems with nontrivial mass matrix. First the existence and uniqueness of solutions are analyzed, then the Lyapunov stability, the Krasovskii-LaSalle invariance principle, and finite-time convergence properties are studied

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