STRUCTURALLY CONSTRAINED ROBUST OPTIMAL CONTROL

Robust time-optimal control of constrained linear Systems

Constrained Robust Optimal Trajectory Tracking: Model Predictive Control Approaches

This thesis is concerned with the theoretical foundations of Robust Model Predictive Control and its application to tracking control problems. Its first part provides an introduction to MPC for constrained linear systems as well as a survey of different Robust MPC methodologies. The second part consists of a discussion of the recently developed Tube-Based Robust MPC framework and its extension ...

A Robust Optimal Control for Constrained Robot Manipulators

A mixed optimal/robust control is proposed in this paper for the tracking constrained robotic systems under parametric uncertainties and external perturbations. The dynamic model of the constrained system is modified to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained one. The design objective is that under a prescribed di...

Robust Constrained Pid Control

The paper describes some new aspects of the course on Robust Constrained PID Control that is being developed and tought at the Faculty of Electrical Engineering and Information Technology of the STU in Bratislava for more than two decades. New important notions enabling more effective treatment of the carried out analysis and design are introduced and computer tools enabling to achieve homogeno...

Constrained Nonlinear Optimal Control via a Hybrid BA-SD

The non-convex behavior presented by nonlinear systems limits the application of classical optimization techniques to solve optimal control problems for these kinds of systems. This paper proposes a hybrid algorithm, namely BA-SD, by combining Bee algorithm (BA) with steepest descent (SD) method for numerically solving nonlinear optimal control (NOC) problems. The proposed algorithm includes th...