Robust Positively Invariant Cylinders in Constrained Variable Structure Control

The Minimal Robust Positively Invariant Set for Linear Difference Inclusions and its Robust Positively Invariant Approximations

Robust positively invariant (RPI) sets for linear difference inclusions are considered here under the assumption that the linear difference inclusion is absolutely asymptotically stable in the absence of additive state disturbances, which is the case for parametrically uncertain or switching linear discrete-time systems controlled by a stabilizing linear state feedback controller. The existence...

Invariant Sliding Sector for Variable Structure Control

A sliding sector has been defined as a subset of the state space, inside which a norm of state decreases with zero control input [1]. In this paper, an invariant sliding sector is defined to be such a kind of sliding sector inside which with a suitable control law, the norm keeps decreasing and the system state stays there since then after entering the sector, i.e. the sector defined in the pap...

Optimized Robust Control Invariant Sets for Constrained Linear

In this paper we introduce the concept of optimized robust control invariance for a discrete-time, linear, time-invariant system subject to additive state disturbances. A novel characterization of a family of the robust control invariant sets is given. The existence of a constraint admissible member of this family can be checked by solving a single linear programming problem. The solution of th...

Spacecraft Constrained Maneuver Planning Using Positively Invariant Constraint Admissible Sets

Combined adaptive and variable structure control for constrained robots

This paper addresses the problem of controller design for constrained robots. A control algorithm, described as a combination of the direct adaptive and the variable structure method, is presented for the trajectory tracking of an end-effecter on a constrained surface with specified constraint forces. This scheme has certain advantages, both with respect to computational efficiency and with res...