Learning Robust Hybrid Control Barrier Functions for Uncertain Systems

Iterative Learning Control for uncertain systems: Robust monotonic convergence analysis

In this paper, we present a novel Robust Monotonic Convergence (RMC) analysis approach for finite time interval Iterative Learning Control (ILC) for uncertain systems. For that purpose, a finite time interval model for uncertain systems is introduced. This model is subsequently used in an RMC analysis based on μ analysis. As a result, we can handle additive andmultiplicative uncertainty models ...

Robust Learning Control for a Class of Uncertain Nonlinear Systems

This paper addresses the robust learning control problem for a class of nonlinear systems with structured periodic and unstructured aperiodic uncertainties. A recursive technique is proposed which extends the currently popular backstepping idea to the robust repetitive learning control systems. An learning evaluation function instead of a Lyapunov function is formulated as a guideline for deriv...

Robust Hybrid Control of Uncertain Constrained Mechanical Systems

Robust hybrid controller design is presented in this paper for motion/force control of mechanical systems subjected to a set of holonomic or classical nonholonomic constraints and in the presence of uncertainties about plant parameters. A uni ed and systematic procedure is employed to derive the controllers for both holonomic and nonholonomic constrained mechanical systems, respectively. The pr...

Robust adaptive control for nonlinear uncertain systems

A direct robust adaptive control framework for non linear uncertain systems with constant linearly parame terized uncertainty and nonlinear state dependent uncer tainty is developed The proposed framework is Lyap unov based and guarantees partial asymptotic robust sta bility of the closed loop system that is asymptotic robust stability with respect to part of the closed loop system states assoc...

Robust iterative learning control design is straightforward for uncertain LTI systems satisfying the robust performance condition