Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems - Archive ouverte HAL Access content directly
Journal Articles SIAM Journal on Control and Optimization Year : 2013

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

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Samir Adly
DMI
Le Ba Khiet
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DMI

Abstract

This 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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Dates and versions

hal-00825578 , version 1 (03-11-2017)

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Samir Adly, Bernard Brogliato, Le Ba Khiet. Well-Posedness, Robustness, and Stability Analysis of a Set-Valued Controller for Lagrangian Systems. SIAM Journal on Control and Optimization, 2013, 51 (2), pp.1592-1614. ⟨10.1137/120872450⟩. ⟨hal-00825578⟩
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