Nonlinear H∞ control is considered for uncertain nonholonomic systems with external disturbances in their chained form kinematic models. State feedback controllers are explicitly constructed to guarantee an L2 gain performance from the disturbance to the system output. Without the presence of the disturbance, the system states are regulated to the origin. Recent results in robust and adaptive c...

A benchmark problem for robust feedback control of a manipulator is presented. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions. The gear transmission is described by nonlinear friction and elasticity. The system is uncertain according to a parametric uncertainty description and due to uncertain disturbances affecting both the motors and...

This paper considers the adaptive robust control of nonlinear systems in the presence of parametric uncertainties and uncertain nonlinearities. The assumption on the allowable uncertain nonlinearities is relaxed to the extent that uncertain nonlinearities are required to be bounded by some known functions multiplied by unknown but bounded time-varying disturbances only. The approach uses robust...

The design of controllers that can automatically compensate the effects of uncertain disturbances in a system has become an important topic in modern control engineering. The general theory of disturbance accommodating control provides a method for designing feedback controllers which automatically detect and minimizes the effect of waveformstructured disturbances. This approach has been applie...

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the...

Attenuation of sinusoidal disturbances with uncertain and arbitrarily time-varying frequencies is considered. The disturbances are modeled as the outputs of an autonomous exogenous system, whose system matrix depends on some uncertain parameters and is yet skewsymmetric for all admissible parameter values. A procedure is then developed for the synthesis of a linear time-invariant controller tha...

Synchronization is very useful in many science and engineering areas. In practical application, it is general that there are unknown parameters, uncertain terms, and bounded external disturbances in the response system. In this paper, an adaptive sliding mode controller is proposed to realize the projective synchronization of two different dynamical systems with fully unknown parameters, uncert...

This paper proposed a robust chaos control scheme for surface permanent magnet synchronous motor (SPMSM) drive system considering the uncertain parameters and external disturbances. A nonlinear time delay estimator is utilized to estimate the nonlinearities, uncertain parameters and disturbances of the system on line, so it is not necessarily required the exact model of the system. Then, based ...