In this paper a robust control for aircraft longitudinal motion is presented. The ModelError Control Synthesis (MECS) is developed for this application, which consists of a nominal controller with a model-error predictive filter. The control input is updated directly using the estimated model-error from a predictive filter to cancel the unmodeled dynamics or disturbance inputs. The predictive f...

In this paper, combined dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical links, all with revolute joints, and electrical actuators are considered and application of an adaptive robust control algorithm is proposed for trajectory tracking of the robot manipulator. Analysis of stability of the suggested scheme is presented in details. The ...

We propose a novel, Bayesian framework for assessing the relative strengths of data-driven ambiguity sets in distributionally robust optimization (DRO). The key idea is to measure the relative size between a candidate ambiguity set and an asymptotically optimal set as the amount of data grows large. This asymptotically optimal set is provably the smallest convex ambiguity set that satisfies a s...

A probability-based robust control design methodology is presented that is applied to the \benchmark system," which is a highdelity model of an active-mass-driver laboratory structure. For the controller design, the objective is to maximize the probability that the uncertain structure/controller system achieves satisfactory performance when subject to uncertain excitation. The controller's robu...

A global sourcing network consists of a set of suppliers located globally to satisfy the demands of an international factory network. The design of a global sourcing network consists of two interrelated decisions: supplier selection and order allocation. The supplier selection is a strategic decision that involves an one time capital investment in developing the selected suppliers. The order al...

Some robust control methods have been developed in the past in order to increase tracking performance in the presence of parametric uncertainties. In the presence of parametric uncertainty, unmodelled dynamics and other sources of uncertainties, robust control laws are used. Corless-Leitmann [1] approach is a popular approach used for designing robust controllers for robot manipulators. In earl...

This paper considers the stabilization problem for Markovian jump systems with time delays. Both the probability rate matrix and the state feedback control law are to be designed. A sufficient condition is established for such designs such that the resulting closedloop Markovian jump system is stochastically stable. This condition is given in terms of a system of linear matrix inequalities with...

Cyber Physical Systems (CPS) are becoming ubiquitous and affect the physical world, yet security is seldom at the forefront of their design. This is especially true of robotic control algorithms which seldom consider the effect of a cyber attack on mission objectives and success. This work presents a secure optimal control algorithm in the face of a cyber attack on a robot’s knowledge of the en...

This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and communication usages. Proposed control strategies ensure stability in the presence of bounded matched and unmatched system uncertainties. Derivation of event-t...

This paper presents a desired compensation adaptive robust control (DCARC) of single-rod electro-hydraulic actuator Compared with the existing adaptive robust control (ARC) algorithms, the DCARC algorithm presented here has the unique feature that the adaptive model compensation part depends on the reference trajectory and parameter estimations only. This unique feature has several advantages. ...