In this chapter we present a brief description of 1 robust control. We first motivate the use of the 1norm and then show how it is used in formulating a control problem with the objective of minimizing the effect of unknown by bounded disturbances. This leads to formulation of the 1 optimal control problem, for which we present a solution using the Scaled-Q method. We then address the problem o...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

This paper analyzes several properties linked to the robust control of fractional diier-ential systems with delays. The BIBO stability of both retarded and neutral fractional delay systems is characterized in terms of the location of their poles. In the particular case of retarded systems, we give some properties of the poles of the system and the singular values of its Hankel operator, as well...

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation valida...

The main objective of this paper is to design a fractional-order PID speed controller for vector-controlled induction motors, where possible parameter variations and load disturbances are considered. The required parameters of the fractional-order PID controller can be obtained by utilizing the Matlab optimization toolbox, in which phase margin, gain-crossover frequency, high-frequency noise re...