Robust Controller Design Using Loop-Shaping and the Method of Inequalities H

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason, the exact model of the undersea robot manipulator is difficult to obtain. In this paper, ...

A robust hybrid control method for robot manipulators is proposed which integrates an Ha controller and an adaptive controller. The Ha controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated f...

This paper presents a systematic approach for the design of an instrumentation architecture and a sensor data fusion concept which together enable the robust control of complex electromechanical systems. The development is based on the theory of hyperstability. Earlier results are generalized and previous restrictions on sensors are relaxed to broaden the applicability of the proposed method. E...

This paper presents a new toolbox for robust control design and analysis.

Robust control based on an online estimation of uncertainty is presented for a class of nonlinear uncertain systems. The estimation is done via a robust observer after the uncertainty vector is projected onto a one-dimensional subspace. The proposed combination of dynamics projection and online estimation is to relax the knowledge about the size of uncertainty and required in the robust control...

Aircraft flight control has a multivariable and non linear nature that makes it suitable for a verification of control capability of different designs. QFT techniques have been thoroughly used during the last years to provide robust control designs while using classic theory of control. The QFT method is applied to the design of an aircraft flight control and the results, evaluated by means of ...

This article presents a new approach so-called 'diffusive pseudo invariant' with application on the robust control of a DC motor with uncertain parameters. The fundamental property of this approach is to preserve as much as possible, in the uncertainty domain, the dynamic characteristics of the system. The controllers obtained are of fractional nature and can be achieved in a non-hereditary way...