— We report on the design and stability analysis of a simple quadruped running controller that can autonomously generate steady running with good energy efficiency and suppress ...
In this work, stability control of bipedal standing is investigated. The biped is simplified as an inverted pendulum with a foot-link. The controller consists of a general regres...
A constrained approximate dynamic programming (ADP) approach is presented for designing adaptive neural network (NN) controllers with closed-loop stability and performance guarante...
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D. The control signal at a vehicle is all...
Given a locally defined, nondifferentiable but Lipschitz Lyapunov function, we construct a (discontinuous) feedback law which stabilizes the underlying system to any given toleran...
F. H. Clarke, Yu. S. Ledyaev, L. Rifford, R. J. St...