We study a discounted maxmin control problem with general state space. The controller is unsure about his model in the sense that he also considers a class of approximate models as possibly true. The objective is to choose a maxmin strategy that will work under a range of different model specifications. This is done by dynamic programming techniques. Under relatively weak conditions, we 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...

The output regulation problem is a central problem in control theory. The early work on output regulation problem in the state space framework can be traced to the early 1970s, and the problem of nonlinear systems has been an active topic since 1980s. So far there exist various results of this problem under various assumptions. In the case where the high-frequency gain sign is unknown, the glob...

The aim of this paper is to propose a model-based feedback control strategy for indoor temperature regulation in buildings equipped with underfloor air distribution (UFAD). Supposing distributed sensing and actuation capabilities, a 0D model of the ventilation process is derived, based on the thermodynamics properties of the flow. A state-space description of the process is then inferred, inclu...

A version of nonlinear generalization of the C1-control problem, which deals with the attenuation of persistent bounded disturbances in &-sense, is investigated in this paper. The methods used in this paper are motivated by [23]. The main idea in the C1-performance analysis and synthesis is to construct a certain invariant subset of the state-space such that achieving disturbance rejection is e...

Compliant control will be a prerequisite for humanoid robotics if these robots are supposed to work safely and robustly in human and/or dynamic environments. One view of compliant control is that a robot should control a minimal number of degrees-of-freedom (DOFs) directly, i.e., those relevant DOFs for the task, and keep the remaining DOFs maximally compliant, usually in the null space of the ...

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task spac...

This paper presents a novel approach to the robust solution of optimal impulsive control problems under aleatory and epistemic uncertainty. The uses belief Markov decision processes reformulate problem in terms uncertainty distributions, called beliefs, rather than realizations system states. formulation leads definition where cost function constraints are functions distributions. encompasses o...

Controllers for parallel manipulators can be designed in task space or joint space, each having its own advantages and disadvantages. In this paper, integral sliding mode controllers designed in joint space and in task space are compared using MATLAB simulation. In both cases, genetic algorithm is used to determine optimal sliding surface gain. The performance and robustness, smoothness of cont...