Gain scheduling control laws have been developed by many researchers (Huang and Rugh 1990, Rugh 1991). Using the extended linearization, Lawrence and Rugh (1990) and Khalil and Kokotovic (1991) proposed the stability results that deal with the response of a nonlinear system to slowly varying exogenous signals. The most recent work on the output regulation for a nonlinear system driven by an exo...

Abstract: The robust control problem for linear systems with parameter uncertainties and time-varying delays is examined. By using an appropriate uncertainty description, a linear state feedback control law is found ensuring the closed-loop system’s stability and a performance measure, in terms of the guaranteed cost. An LMI objective minimization approach allows to determine the ”optimal” choi...

Using the concept of dynamic sliding mode control, an asymptotic robust controller for high order nonlinear systems is presented. In this approach, a n-order nonlinear system is transformed into a first order system through systematic backstepping design and then it will be shown that the control objective is equivalent to design a robust control law for a 2 order auxiliary system with only out...

The main purpose of this paper is to propose a nonlinear H∞ and mixed 2 / H H∞ self-fuzzy algorithm to solve large-angle robust control problem. The attitude control is one of the studied problems in recent years. Under the space environment, there often exists an unpredictable interference which results some deviations of satellite’s attitude. Therefore, it needs to develop a controller still ...

This paper presents a robust control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. The design of the controller is based on the Lyapunov function and the control law that is designed to compensate the uncertainties arising from unknown robot parameters and unknown payload. Major simulations results using numerical values of an industrial SCARA robo...

This paper proposes a novel sliding mode control (SMC) scheme to stabilize a class of fractional-order chaotic systems. Through constructing two sliding mode variables, the control problem of n-dimensional system can be transformed to the equivalent stabilizing problem of a reduced-order system. Subsequently, on the basis of second-order sliding mode (SOSM) technique, a robust control law is de...

A general framework is proposed for the design of a new class of high-performance robust controllers. The framework is based on the recently proposed adaptive robust control (ARC), which effectively combines deterministic robust control with adaptive control. The approach intends to use all available means in achieving high performance; robust filter structures are used to attenuate the effect ...

In this paper, a class of saturated adaptive robust control (SARC) laws are developed for nonlinear systems in the \chain-of-integrator" form with both parametric uncertainties and non-repeatable uncertainties. A guaranteed transient performance and nal tracking accuracy is achieved in general. Furthermore, asymptotic output tracking is also achievable provided that the system undergoes paramet...

This paper presents an application of a design method of robust H∞ optimal control to a structural control system. A dynamic model for a building structure under earthquake and wind excitations is considered. Structured uncertainties are introduced to reflect errors between the model and the reality. To obtain the best possible performance in the face of uncertainties, robust H∞ optimal control...

The problem of designing an integrated control and diagnostic module is considered. The four degree of freedom controller is recast into a general framework wherein results from optimal and robust control theory can be easily implemented. For the case of an 'If2 objective, it is shown that the optimal control-diagnostic module involves constructing an optimal controller, closing the loop with t...