tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

In this paper, the delay-dependent robust control problem is considered for time-delay systems with polytopic uncertainty. Robust stabilizing controller and robust H∞ controller are designed by using a parameter-dependent Lyapunov function that can reduce the conservativeness when used in robust performance analysis and synthesis problems for polytopic systems. Furthermore, multichannel H∞ dyna...

Sufficient conditions are developed for characterizing robust decentralized static output feedback controllers. The approach involves deriving necessary conditions for minimizing a bound on closed-loop performance over a specified range of uncertain parameters. The effect of plant parameter variations on the closed-loop covariance is overbounded by means of a modified Lyapunov equation whose so...

The paper deals with an application of robust static output feedback control to an exothermic continuous-time stirred tank reactor with parametric uncertainties and multiple steady states. The problem of robust controller design is converted to solution of linear matrix inequalities and a computationally simple non-iterative algorithm is presented. The possibility to use robust static output fe...

This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametri...

This paper provides a solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of bounded state and output disturbances. The proposed output feedback controller consists of a simple, stable Luenberger state estimator and a recently developed, robustly stabilizing, tube-based, model predictive controller. The state e...

When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...

It is well-known from linear systems theory that an integral control law is needed for asymptotic set-point regulation under parameter perturbations. This paper presents a similar result for a class of nonlinear systems in the presence of an unknown equilibrium due to uncertain nonlinearities and dynamic uncertainties. Both partial-state and output feedback cases are considered. A procedure for...

This paper deals with the stabilization problem for a class of uncertain stochastic systems with Markovian jumps via the static output feedback control, where the uncertain parameters are norm bounded. A static output feedback controller that makes the closed-loop systems asymptotically mean-square stable is designed, which is obtained by solving some linear matrix inequalities.