In this paper, the problem of robust stabilization and robust disturbance attenuation is investigated for systems with linear nominal parts and norm-bounded nonlinear uncertainties on both states and control inputs. It is shown that the type of nonlinear uncertainty sets considered in this paper has an equivalent representation by linear uncertainty sets. Based on this key result and some stand...

In this paper, the idea of adaptive robust control (ARC) is integrated with a repetitive control algorithm to construct a performance oriented control law for a class of nonlinear systems in the presence of both repeatable and non-repeatable uncertain nonlinearities. All the uncertainties are assumed to be bounded by certain known bounding functions. The repetitive control algorithm is used to ...

We analyze the null controllability for heat equations in the presence of switching controls. The switching pattern is a priori unknown so that the control has to be designed in a robust manner, based only on the past dynamics, so to fulfill the final control requirement, regardless of what the future dynamics is. We prove that such a robust control strategy actually exists when the switching c...

2 Deterministic Dynamic Programming and Viscosity Solutions 5 2.

Mark W. Spong textbook [13] for background of the robotics application of this technique. The novelty of our result in the present paper lies in the fact that the uncertainty bounds needed to derive the control law and to prove uniform ultimate boundedness of the tracking error depend only on the inertia parameters of the robot. Previous applications of the Leitmann approach to robot manipulato...

We consider the robust optimal control of a law of large numbers approximation of a stochastic network. The robust control problem is formulated as a di®erential game, with one player choosing the policies that determine service and routing assignments, and the other choosing quantities such as the arrival and service rates, subject to constraints. The cost to be minimized by the ̄rst player an...

The celebrated small-gain approach to robust control only makes use of the gain information of uncertainty. This results in a limitation on the achievable control bandwidth in system design. On the other hand, the alternative passivity approach has only limited applications. To relax the limitations associated with small-gain and passivity approaches, we explore the possibility of utilizing bot...

In this paper, a new adaptive robust control scheme is developed for a class of uncertain dynamical systems with time-varying state delay, unknown parameters and disturbances. By incorporating adaptive techniques into the robust control method, we propose a continuous adaptive robust controller which guarantees the uniform boundedness of the system and at the same time, the regulating error ent...

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effective...

Find a state or output feedbac:k wlth flxed gains such that nlce stabllity (deflned by a regloo in tbe elgenvalue plane) ls robust wlth respect to !arge plant parameter varladoos, semor failures, and quantlzatJon effects in tbe controller. Keep tbe requlred magnltude of control Inputs smail in thls deslgn. A tool for tacldJ.ng suc:h problems by des1gB in tbe controller parameter space % ls intr...