Research output: Contribution to journal › Article
Accuracy of Fridman's Estimates for Sampling Interval: A Nonlinear System Case Study. / Usik, Egor; Seifullaev, Ruslan; Fradkov, Alexander L.; Bryntseva, Tatiana.
In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 19, No. 1, 2014, p. 11165-11170.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Accuracy of Fridman's Estimates for Sampling Interval: A Nonlinear System Case Study
AU - Usik, Egor
AU - Seifullaev, Ruslan
AU - Fradkov, Alexander L.
AU - Bryntseva, Tatiana
PY - 2014
Y1 - 2014
N2 - An attempt to evaluate accuracy of Fridman's sampling interval estimates for nonlinear discrete-continuous systems where the controlled plant belongs to a class of cascade passifiable Lurie systems. Numerical results obtained for master-slave configuration of two mobile robots demonstrate good accuracy of Fridman's estimates: error of the sampling interval estimate is less than 25% of the value obtained from extensive simulation. In contrast, the error obtained by conventional method from quadratic Lyapunov function is more than 75% of the value obtained from simulation.
AB - An attempt to evaluate accuracy of Fridman's sampling interval estimates for nonlinear discrete-continuous systems where the controlled plant belongs to a class of cascade passifiable Lurie systems. Numerical results obtained for master-slave configuration of two mobile robots demonstrate good accuracy of Fridman's estimates: error of the sampling interval estimate is less than 25% of the value obtained from extensive simulation. In contrast, the error obtained by conventional method from quadratic Lyapunov function is more than 75% of the value obtained from simulation.
KW - Stability of nonlinear systems
KW - Passivity-based control
KW - Networked systems
U2 - 10.3182/20140824-6-ZA-1003.02022
DO - 10.3182/20140824-6-ZA-1003.02022
M3 - Article
VL - 19
SP - 11165
EP - 11170
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8971
IS - 1
ER -
ID: 5762857