This paper presents a robust tracking controller equipped with a fast friction estimator for a 6-DOF parallel electrical manipulator in the joint-task space. Parallel manipulator control scheme mainly stems from two frameworks: the task space control and the joint space control. The former requires the system states obtained via costly direct measurements or time-consuming forward kinematics. T...

Wastewater treatment processes with activated sludge are described in the specialized literature by complex models with nonlinear parameterization, such as for example Activated Sludge Model ASM1, ASM2 or ASM3. Under these conditions, the design of control structures using the state space representation is very difficult. Suitable techniques to approach the control of these processes are using ...

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...

A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control...

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...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The goal of damage-mitigating control is to achieve high performance of operating machinery without overstraining the mechanical structures and the potential benefit is an increase in the component service life with no significant loss of performance. This paper presents the design of a test apparatus, the synthesis of a damage-mitigating control system, and the results of experimentation where...