This paper proposes an adaptive robust control scheme for an Underwater-Vehicle Manipulator System (UVMS). The proposed controller enables the tracking of the intersection of multiple local sub-regions that are assigned for each subsystem of a UVMS under the influence of modelling uncertainties as well as additive disturbances. The presence of variable ocean currents creates hydrodynamic forces...

Considering the situation with the same dimension but different structure in driven system and response system, a new kind of robust adaptive synchronization controller is designed based on the Lyapunov stability theorem . Both the unknown parameters and uncertain functions are considered and an adaptive turning law is constructed to handle the unknown parameters and a robust control law is ado...

This paper describes a model predictive control (MPC) algorithm for the solution of a state-feedback robust control problem for discrete-time nonlinear systems. The control law is obtained through the solution of a finite-horizon dynamic game and guarantees robust stability in the face of a class of bounded disturbances and/or parameter uncertainties. A simulation example is reported to show th...

This paper investigates the robust tracking and regulation control problems for discrete-time, switched piecewise linear hybrid systems affected by parameter variations. In particular, the main question addressed is related to the existence of a controller such that the closedloop system exhibits an attainable desired behavior under all possible parameter variation. Checking attainability and c...

Robust control of nonlinear systems with disturbances and uncertainties is addressed in this paper using disturbance observer based control technique. In this framework, the “disturbance” is a generalized concept, which may include external disturbances, unmodeled dynamics, and system parameter perturbations. The existing disturbance observer based control (DOBC) methods were only applicable fo...

This new platform too requires a strong and substantial research effort to take vision into reality. This research program can build on the activities from the 1960s onwards which laid the foundations of an ambitious system theory encompassing linear and nonlinear systems, stability theory, robust control, estimation, optimal control, decentralized control, adaptive control, identification, dis...

Robust stabilization of an uncertain system subject to input constraints is addressed without making open-loop stability assumptions. A local approach is taken to nd a robust control law and a set of initial conditions that can be stabilized. A piecewise-linear control law is described. It is generated by a parametrized algebraic Riccati equation of the H 1 control theory. Once system trajector...

This paper clariies the relationship between risk-sensitive and robust control. This topic has received attention in the recent literature. We show that the formulations are related through an appropriate limit that is more natural than the small noise limit considered previously. The relationship we discuss is more closely related to that which has been shown in the linear systems setting. 1 S...

In this paper, we consider the problem of robust optimization for a system with uncertainty of rank one. The main result is the regularization procedure of the limiting optimal controller. We derive a method to obtain a low order suboptimal controller that provides a stability margin as close to the optimal one as necessary. The method is illustrated by two examples.

Control approaches for a two-link exible manipulator are studied in the context of robust synthesis for Linear Parameter-Varying systems. Diier-ent treatments of the inertia matrix variations in the manipulator system are examined in three control law design formulations. The rst two designs are based upon scaled H 1 or structured singular value synthesis. The third design makes use of a new ap...