Correction to: Predefined-time robust control with formation constraints and saturated controls

Robust Process Control With Saturated Control Input

The contribution presents a methodology to design a robust control loop in case of the saturated control input. The control system design is based on the polynomial approach resulting in the pole-placement problem to be solved. This task is addressed numerically by means of standard MATLAB functions to meet both the constraints on the control input and robustness of the resultant loop. New cont...

Robust Control through Signal Constraints with Application to Predictive Control Robust Control through Signal Constraints with Application to Predictive Control

Robust adaptive control of voltage saturated flexible joint robots with experimental evaluations

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

Solving Composed First-Order Constraints from Discrete-Time Robust Control

This paper deals with a problem from discrete-time robust control which requires the solution of constraints over the reals that contain both universal and existential quantifiers. For solving this problem we formulate it as a program in a (fictitious) constraint logic programming language with explicit quantifier notation. This allows us to clarify the special structure of the problem, and to ...

Efficient robust optimization for robust control with constraints

This paper proposes an efficient computational technique for the optimal control of linear discrete-time systems subject to bounded disturbances with mixed polytopic constraints on the states and inputs. The problem of computing an optimal state feedback control policy, given the current state, is non-convex. A recent breakthrough has been the application of robust optimization techniques to re...