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Combination of Lyapunov Functions and Density Functions for Stability of Rotational Motion

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Author

Summary, in English

Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid for almost all the solutions of the system. Based on the combination of Lyapunov

and density functions, analysis methods are proposed for the derivation of almost input-to-state stability, and of almost global stability in nonlinear systems. The techniques are illustrated for an inertial attitude observer, where angular velocity readings are corrupted by non-idealities.

Publishing year

2009

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Conference name

Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

Conference date

2009-12-16

Conference place

Shanghai, China

Status

Published

Research group

  • LCCC