For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of carts position and orientation to the desired set point. The controller design relies on converting the carts dynamics to an advantageous form, and the robust linear feedback control laws steer the carts position and orientat...

We consider a robust control model for a spatially distributed commercial fishery under uncertainty, and in particular a tracking problem, i.e. the problem of robust stabilization of a chosen deterministic benchmark state in the presence of model uncertainty. The problem is expressed in the form of a stochastic linear quadratic robust optimal control problem, which is solved analytically. We fo...

Abstract. A feedback control-design problem involving structured plant parameter uncertainties is considered. Two robust control-design issues are addressed. The Robust Stability Problem involves deterministic bounded structured parameter variations, while the Robust Performance Problem includes, in addition, a quadratic performance criterion averaged over stochastic disturbances and maximized ...

This paper presents a robust H∞ optimal control design for an automotive electromechanical brake (EMB). The design considers parametric uncertainty, unmodelled dynamics and the need for robust stability and performance. The capacity of a robust EMB control to manage uncertainty and performance is assessed and experimental and simulation results are presented. The tradeoffs involved in meeting a...

In this paper new results in adaptive (generalized) minimum variance control of packet switching computer networks are presented. New solutions, corresponding to the new inverses of the nonsquare polynomial matrices, can be used for design of robust control of multivariable systems with different number of inputs and outputs. Application of polynomial matrix inverses with arbitrary degrees of f...

In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct fro...

This research deals with a utilization of a tool for symbolic regression, which is analytic programming, for the purpose of the synthesis of a new robust control law. This universal synthesized robust chaotic controller secures the fully stabilization of selected set of discrete chaotic systems. The paper consists of the descriptions of analytic programming as well as selected chaotic systems, ...

This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compen...

In a previous paper, a control Iaw has been developed fix passive bilateral teleoperator to achieve theoretically perfect coordination in the presence of arbitrary environment forcing, and to enable the teleoperator to behave like a passive rigid mechanical tool. In this paper, we develop an adaptive control law to relax the need far the precise knowledge of inertia parameters, and a robust con...

Abstract: The paper addresses the design of an autopilot for small scale helicopters to let the vertical, lateral, longitudinal and yaw attitude dynamics to track aggressive references. The paper is mostly focused on robust control aspects of helicopters. In particular the distinguish feature of the control law proposed in the paper is the ability to deal with the presence of possible severe un...