Recent Advances in Robust Control Theory

Safonov, Michael G.

doi:10.2514/6.2003-5831

Cited by 3 publications

(1 citation statement)

References 36 publications

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“…Model unfalsification does not get much appeal in practice because of its high computational burden (Woodley (2001)). There are many implementations available for model unfalsificaiton (Kosut & Anderson (1997); Agnoloni & Mosca (2003); Tsao et al (2003); Wodoley et al (1999); Safonov (2003); Tsao & Safonov (2001); Woodley et al (1998); Cabral & Safonov (2004)). Wang et al suggested a direct adaptive controller based on model unfalsification with the assumption that there would be a controller in the given set that would satisfy the control requirements for a particular plant ).…”

Section: Acknowledgementmentioning

confidence: 99%

Robotics Automation and Control

Pecherková¹,

Flídr²,

Duník³

2008

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This book was conceived as a gathering place of new ideas from academia, industry, research and practice in the fields of robotics, automation and control. The aim of the book was to point out interactions among the various fields of interests in spite of diversity and narrow specializations which prevail in the current research.We believe that the resulting collection of papers fulfills the aim of the book. The book presents twenty four chapters in total. The scope of the topics presented in the individual chapters ranges from classical control and estimation problems to the latest artificial intelligence techniques. Moreover, whenever possible and appropriate, the proposed solutions and theories are applied to real-world problems.The common denominator of all included chapters appears to be a synergy of various specializations. This synergy yields deeper understanding of the treated problems. Each new approach applied to a particular problem, may enrich and inspire improvements of already established approaches to the problem.We would like to express our gratitude to the whole team who made this book possible. We hope that this book will provide new ideas and stimulation for your research.

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Section: Acknowledgementmentioning

confidence: 99%

Robotics Automation and Control

Pecherková¹,

Flídr²,

Duník³

2008

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Robust Nonlinear Controller Design for a Complete UAV Mission

Sadraey

Colgren

2006

AIAA Guidance, Navigation, and Control Conference and Exhibit

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A robust nonlinear controller is designed for a complete Unmanned Aerial Vehicle UAV mission employing a combination of dynamic inversion and H control. An inner-loop/outer-loop control structure is employed to synthesize a full envelope nonlinear controller for a complete UAV mission. In the inner loop, a modified timescale separation approach is employed to feedback linearize the nonlinear model. In the outer loop, an H control procedure is used to achieve performance and robustness design goals. The reference flight envelope is a complete mission. The uncertainties considered include uncertainty in UAV model parameters such as the stability derivatives, weight, center of gravity location, and airspeed variations. Atmospheric disturbances and measurement noise are also included. Since robustness and disturbance rejection must be verified, flight simulation under a variety of uncertainties is performed using MATLAB/Simulink.

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Model-free Subspace Based Dynamic Control of Mechanical Manipulators

Saleem¹,

Sultan²

2008

Robotics Automation and Control

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Recent Advances in Robust Control Theory

Cited by 3 publications

References 36 publications

Robotics Automation and Control

Robotics Automation and Control

Robust Nonlinear Controller Design for a Complete UAV Mission

Model-free Subspace Based Dynamic Control of Mechanical Manipulators

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