Control-Lyapunov function: Difference between revisions

Revision as of 19:13, 8 February 2011

Revision as of 20:14, 23 March 2011

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Solving for <math>u</math> yields the control law

:<math>

u= m(1+q^2)(\ddot{q}_d + \alpha \dot{e}+\frac{\kappa}{2}r )+K_0q+K_1\dot{q}K_1q^3+b\dot{q}

</math>

with <math>\kappa</math> and <math>\alpha</math>, both greater than zero, as tunable parameters