This paper presents a robust control scheme for a distributed solar collector (DSC) field. As DSC are systems subjected to strong disturbances (mainly in solar radiation and inlet oil temperature), a series feedforward is used as a part of the plant, so that the system to be controlled has one input (fluid flow) and one output (outlet temperature) as the disturbances are partially compensated b...

This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...

This paper deals with the hybrid position/force control of constrained manipulators subjected to uncertainties and disturbances of various nature, including Coulomb friction. The proposed solution is based on sliding-mode control theory, which has been shown to be highly effective in counteracting uncertainties and disturbances for some classes of uncertain nonlinear systems. Specific drawbacks...

In this paper, robust UDE-based linear control strategy is developed for a class of second-order nonlinear uncertain systems with disturbances. After revealing the control structure and performing stability analysis, the robust control strategy is used to suppress wing rock motion. The approach is based on the uncertainty and disturbance estimator,which calculates and robustly cancels system un...

The problem of optimizing affine feedback laws that explicitly steer the mean and covariance an uncertain system state in presence a Gaussian random field is considered. Spatially-dependent disturbances are successively approximated with respect to nominal trajectory by sequence jointly vectors. Sequential updates control inputs computed via convex optimization includes effect feedback, perturb...