This paper considers a class of mean field linear-quadratic-Gaussian (LQG) games with model uncertainty. The drift term in the dynamics of the agents contains a common unknown function. We take a robust optimization approach where a representative agent in the limiting model views the drift uncertainty as an adversarial player. By including the mean field dynamics in an augmented state space, w...

This paper considers discrete-time, uncertain PWA (piecewise affine) systems affected by parameter variations and bounded disturbances, where reachability technique based on polyhedral approach is developed and the robust control problems are investigated. Checking attainability and calculating the state space regions for which a robust control is assured despite the possible disturbance and th...

In this paper, two nonlinear robust controllers for a flexible-link manipulator are presented. These controllers are derived using both sliding mode techniques and nonlinear H∞ control methodologies. The effectiveness of the presented control law are shown by simulations and experiments carried out with the flexible robot arm, an experimental setup available in our Institute Laboratory. The pro...

This paper investigates the robust tracking and regulation control problems for discrete-time, piecewise affine systems subject to bounded disturbances. In particular, the main question addressed is related to the existence of a controller such that the closed-loop system exhibits an attainable desired behavior under all possible disturbances. Checking attainability and calculating the state sp...

Two-wheeled mobile robots (2WMRs) with lower center of gravity exhibit more practicality and operability because their mass center locates on the bottom of the configuration center. By analyzing motion behaviors of the vehicle body, we present the underactuated property and give the dynamics equation of this kind of robot. The system matrices and nonholonomic constraint change drastically becau...

We propose a Bayesian framework for assessing the relative strengths of data-driven ambiguity sets in distributionally robust optimization (DRO) when the underlying distribution is defined by a finite-dimensional parameter. The key idea is to measure the relative size between a candidate ambiguity set and a specific asymptotically optimal set. As the amount of data grows large, this asymptotica...

We consider a linear-quadratic elliptic control problem (LQECP). For the problem we consider here, the control variable corresponds to the Neumann data on the boundary of a convex polygonal domain. The optimal control unknown is the one for which the harmonic extension approximates best a specified target in the interior of the domain. We propose multilevel preconditioners for the reduced Hessi...

This proposal deals with the optimal design of bi-modal production systems under task time variability. It consists in studying an alternative robust approach for handling uncertainty that conducts us to investigate new industrial combinatorial optimization problems representing an important object of study from both practical and algorithmic points of view and whose efficient resolution is a p...

Abstract This paper studies the robust optimal control problem for robot tracking system. An optimal sliding mode control law is designed to solve this problem. Integral sliding mode control is employed to combine the first-order sliding mode with optimal control approach and is applied to robust control of robot manipulators. For the optimal control part, the Lyapunov optimizing control method...

The problem of designing robust controller for discrete two-time-scale interval systems, conveniently represented using interval matrix notion, is considered. The original full order twotime-scale interval system is decomposed into slow and fast subsystems using interval arithmetic. The controllers designed independently to stabilize these two subsystems are combined to get a composite controll...