scholarly journals Modeling Mechanical and Electrical Uncertain Systems using Functions of Robust Control MATLAB Toolbox®3

2015 ◽  
Vol 6 (4) ◽  
Author(s):  
Mohammed Tawfik
Keyword(s):  
Robust Control ◽  
Uncertain Systems ◽  
Matlab Toolbox

scholarly journals On the Robust Multiple Objective Control with Simultaneous Pole Placement in LMI Regions

2021 ◽  
Vol 20 ◽  
pp. 272-280
Author(s):  
Antonis Vouzikas ◽  
Alexandros Gazis
Keyword(s):  
Robust Control ◽  
Complex Plane ◽  
Uncertain Systems ◽  
Closed Loop ◽  
Pole Placement ◽  
Multiple Objective ◽  
Control Laws ◽  
Control Approach ◽  
Guaranteed Cost ◽  
Objective Control

This article studies the problem of designing robust control laws to achieve multiple performance objectives for linear uncertain systems. Specifically, in this study we have selected one of the control objectives to be a closed-loop pole placement in specific regions of the left-half complex plane. As such, a guaranteed cost based multi-objective control approach is proposed and compared with the H_2/H_∞control by means of an application example

Robust and adaptive control of three dimensional revolute-jointed cooperative manipulators for handling automation

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 163-172
Author(s):  
Hürvet Sarikaya ◽  
Recep Burkan ◽  
İbrahim Uzmay
Keyword(s):  
Adaptive Control ◽  
Robust Control ◽  
Control Algorithm ◽  
Uncertain Systems ◽  
Three Dimensional ◽  
Structural Flexibility ◽  
Adaptive Law ◽  
Guaranteed Stability ◽  
Manipulation System ◽  
Adaptive Control Algorithm

This paper presents a study of the application of adaptive and robust control methods to a cooperative manipulation system which is developed for handling an object by three dimensional revolute-jointed manipulators. The adaptive control algorithm supports the parameter adaptive law that provides guaranteed stability for uncertain systems. In designing the robust control structure, contact and friction constraints for grasp and bearing conditions, structural flexibility or such similar factors as various unmodeled dynamics are considered as uncertainties that determine available values of control parameters. The novelty of results in the present paper is to define new control inputs using parametric uncertainties and the Lyapunov based theory of guaranteed stability of uncertain systems for handling objects in a spatial workspace.

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