Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem

Harper, Chris; Winfield, Alan

Abstract

In this paper we propose a new procedure for construction of motor schema typically used in behaviour-based robotics. The procedure reverses the standard stability analysis approach by searching for a
control function to fit a pre-defined Lyapunov function.
In order to improve the applicability of this procedure, a new Second-Order extension to Lyapunov's Second Method is proposed, allowing a stable schema to be defined directly in terms of actuator force demands. We propose a synthesis procedure called Direct Lyapunov
Design, which searches for motor schema maps whose set points satisfy the second-order theorem. The procedure has been applied to a simple Subsumption Architecture controller for an inverted pendulum simulation, yielding stable behaviour.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems
• Start Date: Sep 30, 2002
• End Date: Oct 4, 2002
• Publication Date: Oct 31, 2002
• Deposit Date: Jun 10, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 2085-2090
• Book Title: IEEE/RSJ International Conference on Intelligent Robots and Systems
• ISBN: 0-7803-7398-7
• DOI: https://doi.org/10.1109/IRDS.2002.1041573
• Keywords: direct Lyapunov design; synthesis procedure; motor schema; second-order Lyapunov stability theorem; behaviour-based robotics; actuator force demands; second-order theorem; subsumption architecture controller; inverted pendulum simulation
• Public URL: https://uwe-repository.worktribe.com/output/9621543
• Publisher URL: https://ieeexplore.ieee.org/document/1041573