@misc{Nijmeijer_Henk_Lyapunov,
 author={Nijmeijer, Henk and Berghuis, Harry},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={Lyapunov-type controllers for trajectory tracking of rigid robot manipulators are described. The so-called passivity-based controllers exploit the desired physical energy of the robot system. A discussion about tracking control in the absence of complete state information and model knowledge then leads to practical stability. It is shown that these Lyapunov-type controllers can also be used in other mechanical systems as e.g. the controlled Duffing equation. In that case the controller can be used as a tool for creation or annihilation of chaotic dynamics.},
 type={artykuł},
 title={Lyapunov control in robotic systems: Tracking regular and chaotic dynamics},
 keywords={sterowanie, sterowanie-teoria, sztuczna inteligencja, matematyka stosowana, informatyka},
}