We present a time and energy optimal controller for a two-wheeled differentially driven robot. We call a mission the task of bringing the robot from an initial state to a desired final state (a state is the aggregate vector of the position and velocity vectors). The proposed controller is time optimal in the sense that it can determine the minimum amount of time required to perform a mission. T...

This paper is concerned with the mixed H2/H∞ control problem. The purpose of this paper is to give an iterative algorithm for finding a sub-optimal static state feedback controller for the mixed H2/H∞ control problem. The key idea of our algorithm is to construct two “controller sets”: one is a set of controllers that improve the H2 norm of the closed loop map for a given controller and the oth...

Using the dual Youla parametrizations of controllerbased coprime factor plant perturbations and plant-based coprime factor controller perturbations, we study the LQG plant-controller continuity question. Indeed, we show that it is possible to calculate a new optimal LQG controller from a previous one when the plant is slightly changed, and to quantify the change in the controller as a function ...