Development of the method of Lyapunov functions in stability theory
Extending Liapunov second method by simultaneous use of several functions and of higher order derivatives in criteria for motion stability
Matrosov, V. M.↗
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Lyapunov functionals for a class of wave equations.
Liapunov functionals guaranteeing asymptotic stability for wave equations by constructing Liapunov functions for ordinary differential equations
Buis, G. R.↗
Path integrals and Lyapunov functionals
Liapunov functionals for time delay systems generated by path integrals in state space in terms of convolution equations
Gruber, M.↗
Vector Lyapunov Functions for Stochastic Interconnected Systems
Theoretical paper presents set of sufficient conditions for asymptotic and exponential stability with probability 1 for class of stochastic interconnected systems. Theory applicable to complicated, large-scale mechanical or electrical systems, and, for several design problems, it reduces computational difficulty by relating stability criteria to fundamental structural features of system.
Boussalis, D.↗
Neural network-based control using Lyapunov functions
We have successfully demonstrated how the problem of stabilization of plants can be reduced to a problem of approximation of functions. Neural networks have been shown to have approximating and interpolating properties. This approach is good for linear and nonlinear plants. Software has been generated to demonstrate this approach.
Luxemburg, Leon A.↗
Network analysis of memristive device circuits: dynamics, stability and correlations
Abstract Networks with memristive devices are a potential basis for the next generation of computing devices. They are also an important model system for basic science, from modeling nanoscale conductivity to providing insight into the information-processing of neurons. The resistance in a memristive device depends on the history of the applied bias and thus displays a type of memory. The interplay of this memory with the dynamic properties of the network can give rise to new behavior, offering many fascinating theoretical challenges. But methods to analyze general memristive circuits are not well described in the literature. In this paper we develop a general circuit analysis for networks that combine memristive devices alongside resistors, capacitors and inductors and under various types of control. We derive equations of motion for the memory parameters of these circuits and describe the conditions for which a network should display properties characteristic of a resonator system. For the case of a purely memresistive network, we derive Lyapunov functions, which can be used to study the stability of the network dynamics. Surprisingly, analysis of the Lyapunov functions show that these circuits do not always have a stable equilibrium in the case of nonlinear resistance and window functions. The Lyapunov function allows us to study circuit invariances, wherein different circuits give rise to similar equations of motion, which manifest through a gauge freedom and node permutations. Finally, we identify the relation between the graph Laplacian and the operators governing the dynamics of memristor networks operators, and we use these tools to study the correlations between distant memristive devices through the effective resistance.
97 MATHEMATICS AND COMPUTING↗
Spacecraft Modeling, Attitude Determination, and Control: Quaternion-Based Approach
Spacecraft attitude determination and control is an important part of a spacecraft to achieve its designed mission. As of today, many spacecrafts have been successfully launched, and most of them have performed well as they were designed. Many research papers have been published to address the attitude determination and control design problems. Several text books are available for students to learn the technology and for engineers to use as references. The most popular spacecraft models for attitude determination algorithms and control design methods are the Euler angle models and the quaternion models . The Euler angle models have been proved very efficient as the linearized models are controllable, and all standard linear control system design methods are directly applicable. The drawbacks related to the Euler angle methods are (a) the designs based on linearized models may not globally stabilize the original nonlinear spacecraft, i.e., the design may not work when the attitude of the spacecraft is far away from the point where the linearization is performed; (b) the models depend on the rotational sequences, this can be error prone if several teams work on the same project and they use different rotational sequences; (c) for any rotational sequence, there is a singular point where the model is not applicable; and (d) since most attitude determination methods use quaternion to represent the spacecraft attitude, there is a need to transform quaternion into Euler angles. On the other hand, for quaternion models, people have found controllers that can globally stabilize nonlinear spacecraft systems; the models do not depend on rotational sequences and they have no singular point; and the quaternion is provided by attitude determination system and ready to use. The main problem with the quaternion model based control system design is that the linearized quaternion model is not controllable. Therefore, most published design methods heavily rely on Lyapunov functions for the nonlinear spacecraft system. But there is no systematic way to obtain a desired Lyapunov functions. Moreover, the Lyapunov function based designs focus on the closed-loop system stability but pay little attention to the closed-loop system performance. In a series of papers, the author proposed some reduced quaternion models which lead to some controllable linearized spacecraft models. Therefore, all standard linear system theory can be directly applied to analyze and design the spacecraft control systems. We showed that, in some cases, the designed control system is not only optimal for the linearized system, but also globally stabilize the original nonlinear system . Clearly, the reduced quaternion models do not depend on rotational sequences. Due to the special structure of the linearized spacecraft model, some most important design methods, such as LQR design and robust pole assignment design are very simple, enjoy the analytical solutions for some problems, have direct connection to the performance measures, such as settling time, rising time , and percentage of overshoot . All these features are attractive for high quality control system designs. The idea mentioned above is then extended to more spacecraft control problems using specific actuators such as magnetic torque bars and control momentum gyroscopes. These types of actuators may not provide exactly desired torques. Most existing methods use different conversions to get approximate solutions, meaning that these actuators may generate a torque close to but not equal to the desired one. Using the reduced quaternion models that incorporate the actuators into the system model, the control inputs are not torques but the operational parameters. The main benefit of this idea is that the control actions are not approximate but accurate. As all actuators have their operational limit, design with input constraints are also considered in this book by using recently developed interior-point optimization techniques. This book grows up from my research on the spacecraft attitude determination and control design methods in more than a decade which is focused on using reduced quaternion models because of their merits stated above. The book provides all necessary background materials on orbital dynamics, rotations and quaternion, frequently used reference frames, transformations between reference frames, space environment and disturbance torques, ephemeris astronomical vector calculations and measurement instruments, spacecraft control actuators and their models, so that the readers will get a global picture and can apply all these information into the spacecraft system modeling, attitude determination, and spacecraft control system designs, which is the main purpose of this book. This book is different from existing books in that we focus on quaternion based spacecraft control system designs and we consider only attitude control system design related problems, from spacecraft modeling, to attitude determination and estimation, to control system design method selection, to control algorithm development, and to the simulation of the control system designs. Moreover, this book addresses different attitude control tasks in the spacecraft life cycle, including spacecraft maneuver, orbit raising, attitude control, and rendezvous. Finally, this book emphasizes the state space design methods rather than the classical frequency design methods.
Attitude determination and control↗
Deriving GENERIC from a Generalized Fluctuation Symmetry
Much of the structure of macroscopic evolution equations for relaxation to equilibrium can be derived from symmetries in the dynamical fluctuations around the most typical trajectory. For example, detailed balance as expressed in terms of the Lagrangian for the path-space action leads to gradient zero-cost flow. We expose a new such fluctuation symmetry that implies GENERIC, an extension of gradient flow where a Hamiltonian part is added to the dissipative term in such a way as to retain the free energy as Lyapunov function.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
Explicit Weierstrass traveling wave solutions and bifurcation analysis for dissipative Zakharov–Kuznetsov modified equal width equation
We consider the dissipative Zakharov–Kuznetsov modified equal width (ZK-MEW) equation and discuss the effect of the dissipation on the existence and nature of traveling wave solutions of the equation. We use Lyapunov function and dynamical system theory in order to show that when viscosity term is added to the ZK-MEW equation, yet there exists still bounded traveling wave solutions in certain regions. Subsequently, we obtain general solution of the ZK-MEW equation in the presence and absence of viscosity in terms of Weirstrass ℘ functions and Jacobi elliptic functions. We also derive a new form of kink-type solution by exploring a factorization method based on functional transformation and the Abel’s first order nonlinear equation. Finally, we use the phase plane analysis and examine the stability of the viscous waves.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
Global dynamics of a vector-borne disease model with infection ages and general incidence rates
A vector-borne disease model with general incidence rates is proposed and investigated in this paper, where both vector and host are stratied by infection ages in the form of a hyperbolic system of partial differential equations coupled with ordinary differential equations.The existence, uniqueness, nonnegativeness, and boundedness of solution of the model are studied for biologically reasonable purpose. Furthermore, a global threshold dynamics of the system is established by constructing suitable Lyapunov functionals, which is determined by the basic reproduction number R{sub 0}: the infection-free equilibrium is globally asymptotically stable when R{sub 0} < 1 while the endemic equilibrium is globally asymptotically stable when R{sub 0} > 1.
97 MATHEMATICS AND COMPUTING↗
Cluster synchronization induced by one-node clusters in networks with asymmetric negative couplings
This paper deals with the problem of cluster synchronization in networks with asymmetric negative couplings. By decomposing the coupling matrix into three matrices, and employing Lyapunov function method, sufficient conditions are derived for cluster synchronization. The conditions show that the couplings of multi-node clusters from one-node clusters have beneficial effects on cluster synchronization. Based on the effects of the one-node clusters, an effective and universal control scheme is put forward for the first time. The obtained results may help us better understand the relation between cluster synchronization and cluster structures of the networks. The validity of the control scheme is confirmed through two numerical simulations, in a network with no cluster structure and in a scale-free network.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
Dynamics of the stochastic Lorenz chaotic system with long memory effects
Little seems to be known about the ergodic dynamics of stochastic systems with fractional noise. This paper is devoted to discern such long time dynamics through the stochastic Lorenz chaotic system (SLCS) with long memory effects. By a truncation technique, the SLCS is proved to generate a continuous stochastic dynamical system Λ. Based on the Krylov-Bogoliubov criterion, the required Lyapunov function is further established to ensure the existence of the invariant measure of Λ. Meanwhile, the uniqueness of the invariant measure of Λ is proved by examining the strong Feller property, together with an irreducibility argument. Therefore, the SLCS has exactly one adapted stationary solution.
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
A large scale system approach for stability analysis of multi-unit SMR plants - 248
In this paper we present a framework based on large scale system theory for analyzing the stability of coupled advanced high temperature molten salt small modular reactors. It has been suggested that small modular reactors be coupled through a common molten salt energy repository, called a salt vault. Using vector Lyapunov functions the connective stability of multiple reactors coupled through a salt vault can be guaranteed. In this theory, scalar Lyapunov functions are assigned to portions of the composite system state space. Functions are constructed for each small modular reactor (SMR), each Brayton cycle, and the salt vault. These functions are then aggregated, becoming components of a vector Lyapunov function. If this vector function possesses special properties, the composite system is stable. Bounds on the connective stability of a multi-reactor plant can be found in terms of a free parameter, in this case the mass of molten salt in the salt vault. Examining bounds on the connective stability allows one to use control theory as a tool for making performance and economic design decisions related to the size of the salt vault. This technique can produce a constraint that is used in a design optimization problem for finding the smallest-possible salt vault that ensures stability. It can also be used as an indicator of interconnection and its effect on system behavior. This, in turn, could be used to guide multi-unit control system design to ensure that highly coupled systems behave favorably. The theory for multi-unit control and operation is discussed. (authors)
21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
Simple robust control laws for robot manipulators. Part 1: Non-adaptive case
A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.
Wen, J. T.↗
Asymptotic Behavior of Memristive Circuits
The interest in memristors has risen due to their possible application both as memory units and as computational devices in combination with CMOS. This is in part due to their nonlinear dynamics, and a strong dependence on the circuit topology. We provide evidence that also purely memristive circuits can be employed for computational purposes. In the present paper we show that a polynomial Lyapunov function in the memory parameters exists for the case of DC controlled memristors. Such a Lyapunov function can be asymptotically approximated with binary variables, and mapped to quadratic combinatorial optimization problems. This also shows a direct parallel between memristive circuits and the Hopfield-Little model. In the case of Erdos-Renyi random circuits, we show numerically that the distribution of the matrix elements of the projectors can be roughly approximated with a Gaussian distribution, and that it scales with the inverse square root of the number of elements. This provides an approximated but direct connection with the physics of disordered system and, in particular, of mean field spin glasses. Using this and the fact that the interaction is controlled by a projector operator on the loop space of the circuit. We estimate the number of stationary points of the approximate Lyapunov function and provide a scaling formula as an upper bound in terms of the circuit topology only.
97 MATHEMATICS AND COMPUTING↗
LPV Controller Interpolation for Improved Gain-Scheduling Control Performance
In this paper, a new gain-scheduling control design approach is proposed by combining LPV (linear parameter-varying) control theory with interpolation techniques. The improvement of gain-scheduled controllers can be achieved from local synthesis of Lyapunov functions and continuous construction of a global Lyapunov function by interpolation. It has been shown that this combined LPV control design scheme is capable of improving closed-loop performance derived from local performance improvement. The gain of the LPV controller will also change continuously across parameter space. The advantages of the newly proposed LPV control is demonstrated through a detailed AMB controller design example.
Wu, Fen↗
Parameter Transient Behavior Analysis on Fault Tolerant Control System
In a fault tolerant control (FTC) system, a parameter varying FTC law is reconfigured based on fault parameters estimated by fault detection and isolation (FDI) modules. FDI modules require some time to detect fault occurrences in aero-vehicle dynamics. This paper illustrates analysis of a FTC system based on estimated fault parameter transient behavior which may include false fault detections during a short time interval. Using Lyapunov function analysis, the upper bound of an induced-L2 norm of the FTC system performance is calculated as a function of a fault detection time and the exponential decay rate of the Lyapunov function.
Belcastro, Christine↗
New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case
A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.
Wen, John T.↗