Lyapunov redesign

Performance and Lyapunov Stability of a Nonlinear Path Following Guidance Method

Sanghyuk Park, John Deyst, Jonathan P. How

Citations: 423 • 2007

A control Lyapunov function approach to multiagent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 388 • 2002

An Improved Artificial Potential Field Method for Path Planning and Formation Control of the Multi-UAV Systems

Zhenhua Pan, Chengxi Zhang, Yuanqing Xia, Hao Xiong, Xiaodong Shao

Citations: 378 • 2021

Stabilization with guaranteed safety using Control Lyapunov–Barrier Function

Muhammad Zakiyullah Romdlony, Bayu Jayawardhana

Citations: 329 • 2016

Adaptive Finite-Time Stabilization of Stochastic Nonlinear Systems Subject to Full-State Constraints and Input Saturation

Huifang Min, Shengyuan Xu, Zhengqiang Zhang

Citations: 298 • 2020

Nonlinear Control of Wheeled Mobile Robots

Warren E. Dixon, D.M. Dawson, Erkan Zergeroğlu, Aman Behal

Citations: 291 • 2001

Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions

Rafael Kelly

Citations: 254 • 1998

Repetitive learning control: a Lyapunov-based approach

Warren E. Dixon, Erkan Zergeroğlu, D.M. Dawson, B.T. Costic

Citations: 225 • 2002

Learning control Lyapunov function to ensure stability of dynamical system-based robot reaching motions

Seyed Mohammad Khansari-Zadeh, Aude Billard

Citations: 224 • 2014

Control barrier function based quadratic programs with application to bipedal robotic walking

Shao‐Chen Hsu, Xiangru Xu, Aaron D. Ames

Citations: 201 • 2015

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs

Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle

Citations: 170 • 2015

3D dynamic walking on stepping stones with control barrier functions

Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath

Citations: 124 • 2016

Sliding-Mode Control of Full-State Constraint Nonlinear Systems: A Barrier Lyapunov Function Approach

David Cruz‐Ortiz, Isaac Chaírez, Alexander S. Poznyak

Citations: 105 • 2022

A control Lyapunov function approach to multi-agent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 96 • 2002

Controller Design for Uncertain Systems via Lyapunov Functions

L. D. Corless, G. Leitmann

Citations: 83 • 1988

Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs

Quan Nguyen, Koushil Sreenath

Citations: 69 • 2015

Strict Lyapunov functions for control of robot manipulators

Víctor Santibáñez, Rafael Kelly

Citations: 60 • 1997

A control Lyapunov function approach to multi-agent coordination

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

Citations: 55 • 2003

Adaptive controller designs for robot manipulator systems using Lyapunov direct method

Kye Lim, Mansour Eslami

Citations: 54 • 1985

Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility

Jun Zeng, Bike Zhang, Zhongyu Li, Koushil Sreenath

Citations: 54 • 2021