The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of self-balancing in the presence of external disturbances. The biped is modeled as a five-link planar robot with four actuators located at hip and knee joints. A sliding mode control law has been developed for the biped to follow a human-like gait trajectory while keeping the tors...

We investigate here the numerical solution of a special type of descriptor continuous-time Riccati equation which is involved in solving several key problems in robust control, formulated under very general hypotheses. We also give necessary and sufficient existence conditions together with computable formulas for both stabilizing and antistabilizing solutions in terms of the associated matrix ...

In risk analysis based on Bayesian framework, premium calculation requires specification of a prior distribution for the risk parameter in the heterogeneous portfolio. When the prior knowledge is vague, the E-Bayesian and robust Bayesian analysis can be used to handle the uncertainty in specifying the prior distribution by considering a class of priors instead of a single prior. In th...

Plant structure is utilized for the simpli cation of system analysis and controller synthesis. For plants where the directionality is independent of frequency, the singular value decomposition (SVD) is used to decouple the system into nominally independent subsystems of lower dimension. In H2and H1-optimal control, the controller synthesis can thereafter be performed for each of these subsystem...

The main objective of applying robust active control to base-isolated structures is to protect them in the event of an earthquake. Taking advantage of discontinuous control theory, a static discontinuous active control is developed using as a feedback only the measure of the velocity at the base. Moreover, due to that in many engineering applications, accelerometers are the only devices that pr...

Sample average approximation (SAA) is a widely popular approach to data-driven decisionmaking under uncertainty. Under mild assumptions, SAA is both tractable and enjoys strong asymptotic performance guarantees. Similar guarantees, however, do not typically hold in finite samples. In this paper, we propose a modification of SAA, which we term Robust SAA, which retains SAA’s tractability and asy...

Robust semi-definite programming problems with rational dependence on uncertainties are known to have a wide range of applications, in particular in robust control. It is well-established how to systematically construct relaxations on the basis of the full block S-procedure. In general such relaxations are expected to be conservative, but for concrete problem instances they are often observed t...

Many systems attempt to forecast user navigation in the Internet through the use of past behavior, preferences and environmental factors. Most of these models overlook the possibility that users may have many diverse sets of preferences. For example, the same person may search for information in different ways at night (when they are pursuing their hobbies and interests) as opposed to during th...

Abstrucf-The positiodforce control of mechanical systems subject to a set of classical nonholonomic constraints represents an important class of control problems. In this note, a reduced dynamic model, suitable for simultaneous independent motion and force control, is developed. Some properties of the dynamic model are exploited to facilitate the controller design. Based on the theory of guaran...