Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Adaptive Control
Monte Carlo Strategies in Scientific Computing
Monte Carlo Strategies in Scientific Computing
Stability and performance of a variable gain controller with application to a dvd storage drive
Automatica (Journal of IFAC)
Performance of convergence-based variable-gain control of optical storage drives
Automatica (Journal of IFAC)
Improved noise sensitivity under high-gain feedback in nano-positioning motion systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
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Phase-Based Gain-Modulation (PBGM) control is realized by modulating controller gains in response to the phase of the system state or tracking error. PBGM controllers have been applied to robotic hands, parallel manipulators and flexible mechanisms to give increased damping, reduced tracking error and friction compensation.A novel method is presented to establish Lyapunov stability for PBGM control. Prior PBGM stability results incorporated a constraint which limited the range of provably stable systems. The present result removes this constraint, establishing Lyapunov stability for a substantially broader class of systems. Additionally, the new approach decouples the selection of the Lyapunov function from the controller design, permitting the controls designer to independently specify a switch function which determines the application of gain modulation.The present results are applied to analyze PBGM control of the Sarcos dextrous manipulator, illuminating the stability properties of control experiments previously reported in the literature. Numerical methods for design calculations are also presented.