论文标题
评论“随时间变化的Lyapunov功能，用于跟踪有或没有摩擦的机械系统的控制”
Comments on "Time-Varying Lyapunov Functions for Tracking Control of Mechanical Systems With and Without Frictions"
论文作者
论文摘要
在文章$^a $中，作者引入了一个随时间变化的lyapunov功能，用于非线性系统的稳定性分析，其运动受标准的牛顿 - 欧拉尔方程的控制。作者建立了渐近稳定性，选择了两个受控制定律中某些特征值界限限制的两个对称阳性矩阵。在本说明中使用Integrator BackStepping和Lyapunov重新设计的Lyapunov意义上的指数稳定性在本说明中仅使用派生控制器中的一个矩阵建立。我们不会对分析中引入的对称正定矩阵施加最小特征值约束要求，以确保稳定性。减少控制法中所需的参数，我们的分析提高了文章$^a $中报告的跟踪错误的稳定性和收敛速率。 $^A $ REN，W.，Zhang，B，Li，H和Yan L. Ieee Access。卷。 8。pp。51510-51517。 2020。
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the choice of two symmetric positive definite matrices restricted by certain eigenvalue bounds in the control law. Exponential stability in the sense of Lyapunov using integrator backstepping and Lyapunov redesign is established in this note using just one matrix in the derived controller. We do not impose minimum eigenvalue bound requirements on the symmetric positive definite matrix introduced in our analysis to guarantee stability. Reducing the parameters needed in the control law, our analysis improves the stability and convergence rates of tracking errors reported in the article$^a$. $^a$Ren, W., Zhang, B, Li, H, and Yan L. IEEE Access. vol. 8. pp. 51510-51517. 2020.
