Skip to main content

Research Repository

Advanced Search

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

Harper, Chris; Winfield, Alan

Authors

Profile Image

Chris Harper Christopher4.Harper@uwe.ac.uk
Senior Research Fellow in Robitics Autonomous Systems Safety Engineering



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.

Citation

Harper, C., & Winfield, A. (2002). Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem. In IEEE/RSJ International Conference on Intelligent Robots and Systems (2085-2090). https://doi.org/10.1109/IRDS.2002.1041573

Conference Name IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference Location Lausanne
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




You might also like



Downloadable Citations