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— Dilated homogeneous systems are local canonical forms of nonlinear control systems. In this paper, we propose a global inverse optimal controller with guaranteed convergence rate by implementing the local homogeneity. First, we clearly describe assumptions, and then design a global inverse optimal controller achieving local homogeneity for input-affine(More)
This paper considers finite-time position control of robot manipulators. The robot manipulators are modeled by discontinuous differential equations. In this paper, we prove that the Nakamura's local homogeneous controller based on a control Lyapunov function is valid to the position control of the robot manipulators, and show the effectiveness of the(More)
— In this paper, we propose a two-step controller design method with control Lyapunov functions (CLFs) for nonlinear systems with convex input constraints. In the first step, we derive an input which minimizes the time derivative of a local CLF via nonlinear convex optimization. According to the Karush-Kuhn-Tucker condition (KKT-condition), we clarify the(More)
In a previous study it was shown that the enantioselective α-fluorination of racemic α-chloroaldehydes with a chiral organocatalyst yielded the corresponding α-chloro-α-fluoroaldehydes with high enantioselectivity. It was also revealed that kinetic resolution of the starting aldehydes was involved in this asymmetric fluorination. This paper describes the(More)
Stabilization on a non-contractible manifold is a difficult control problem. We have proposed the minimum projection method for asymptotic stabilization of nonlinear systems on manifolds. The minimum projection method requires the strict condition for a control Lyapunov function (CLF) on another manifold. In this paper, we relax the condition by(More)
— In this paper, we propose an input-to-state stabilizing controller for nonlinear systems on differentiable manifolds based on input-to-state locally semiconcave practical control Lyapunov functions (ISS-LS-PCLFs). We show that the proposed controller input-to-state stabilize the desired equilibrium in the sense of sample and hold solution. The(More)