• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.209-209
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• 2000

In this paper, we show that some of 2- or higher-dimensional systems cannot be asymptotically stabilized on the constrained asymptotically stabilizable set via linear feedback.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.183-188
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• 1994

A passivity-based adaptive controller for robots executing fine motion tasks is proposed. The robot dynamics is modelled such that it is subject to holonomic constraints and hence it can be treated as a particular case of constrained motion tasks. Energy-motivated stability analysis is used to conclude the asymptotic stability. Remarks regarding the structure of the controller are given. A computer simulations study is presented and a robust constraint stabilization algorithm is also proposed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.7
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• pp.1019-1023
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• 2012

This paper considers a model predictive control problem of discrete-time constrained systems with time-varying delay. For this problem, a delay dependent state feedback control approach is used to achieve asymptotic stabilization of systems with input constraints. Based on Lyapunov stability theory, a new stability condition is obtained via linear matrix inequality formulation to find cost monotonicity condition of the model predictive control algorithm which guarantee the closed loop stability. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our results.