In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid join...

A robust Kalman conjecture is defined for the robust Lur’e problem. Specifically, it is conjectured that the nonlinearity’s slope interval for which robust absolute stability is guaranteed corresponds to the robust interval of the uncertain plant. We verify this robust Kalman conjecture for first-order plants perturbed by various norm-bounded unstructured uncertainties. The analysis classifies ...

We examine some recent methods for System Identification, that also deliver non-parametric error bounds, suited for a robust controller design. In particular, we look at Stochastic Embedding, Set Membership Identification and Model Error Modelling. We briefly review the main ideas together with existing computational solutions and present a comparative example.

An investigation on the robustness of a torque vectoring control based on an inverse disturbance observer architecture for a rear wheel driven vehicle with electric single wheel drives is presented within this contribution. To ensure robust control parameters, specifications for eigenvalues (Γ-stability) and bounds on weighted sensitivity and complementary sensitivity functions in frequency dom...

This entry describes the basic setup of linear robust control and the difficulties typically encountered when designing optimization algorithms to cope with robust stability and performance specifications.

The performance of robust controllers hinges on the underlyingmodel set. The aim of the present paper is to develop a system identification procedure that enables the design of a controller that achieves optimal robust performance. Hereto, the complex interrelation between system identification and robust control is thoroughly analyzed and novel connections are established between (i) control-r...

This paper aims to develop a new data-driven H∞ norm estimation algorithm for model-error modeling of multivariable systems. An iterative approach is presented that requires significantly fewer prior assumptions on the true system, hence it provides stronger guarantees in a robust control design. The iterative estimation algorithm is embedded in a robust control design framework with a judiciou...

Biology-Inspired Adaptive and Nonlinear Robust Control of BAUV Using Pectoral-Like Fins

This paper presents an application of-synthesis to the robust control of a large exible space structure experimental testbed called Daisy. A perturbed left-coprime factorization of Daisy's dynamics is used to capture the uncertainty in the modes.-synthesis controller designs based on left-coprime factorizations of 46 th-order collocated and noncollocated models of Daisy are presented together w...

A problem of guaranteed control is under discussion. This problem consists in the attainment of a given target set by a phase trajectory of a system described by an equation with time delay. An uncontrolled disturbance (along with a control) is assumed to act upon the system. An algorithm for solving the problem in the case when information on a phase trajectory is incomplete (measurements of a...