Chris Harper Christopher4.Harper@uwe.ac.uk
Senior Research Fellow in Robitics Autonomous Systems Safety Engineering
Direct Lyapunov design - A synthesis procedure for motor schema using a second-order Lyapunov stability theorem
Harper, Chris; Winfield, Alan
Authors
Alan Winfield Alan.Winfield@uwe.ac.uk
Professor in Robotics
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 |
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