A convex set of robust D—stabilizing controllers using Cauchy's argument principle

Enhancing Fuzzy Controllers Using Generalized Orthogonality Principle

Dynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Cutting-set methods for robust convex optimization with pessimizing oracles

We consider a general worst-case robust convex optimization problem, with arbitrary dependence on the uncertain parameters, which are assumed to lie in some given set of possible values.We describe a general method for solving such a problem, which alternates between optimization and worst-case analysis. With exact worst-case analysis, the method is shown to converge to a robust optimal point. ...

Convex set reconstruction using prior shape information

In this paper we present several algorithms for reconstructing 2D convex sets given support line measurements for which the angles are known precisely but the lateral displacements are noisy. We extend the algorithms given in a previous paper by explicitly incorporating prior information about the shape of the objects to be reconstructed. We develop the Scale-Invariant algorithms, which incorpo...

Robust Computation of a Minimum Area Convex Polygon Stabber of a Set of Isothetic Line Segments

In this paper, we discuss the algorithm engineering aspects of an O(n 2)-time algorithm [6] for computing a minimum-area convex polygon that intersects a set of n isothetic line segments.