Topic
Robust control
About: Robust control is a research topic. Over the lifetime, 42034 publications have been published within this topic receiving 810526 citations.
Papers published on a yearly basis
Papers
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TL;DR: It is shown that, by exploiting the processing power inherent in current computing systems, substantial gains in classifier accuracy and response time are possible and other important characteristics for prosthetic control systems are met.
Abstract: This paper represents an ongoing investigation of dexterous and natural control of upper extremity prostheses using the myoelectric signal (MES). The scheme described within uses pattern recognition to process four channels of MES, with the task of discriminating multiple classes of limb movement. The method does not require segmentation of the MES data, allowing a continuous stream of class decisions to be delivered to a prosthetic device. It is shown in this paper that, by exploiting the processing power inherent in current computing systems, substantial gains in classifier accuracy and response time are possible. Other important characteristics for prosthetic control systems are met as well. Due to the fact that the classifier learns the muscle activation patterns for each desired class for each individual, a natural control actuation results. The continuous decision stream allows complex sequences of manipulation involving multiple joints to be performed without interruption. Finally, minimal storage capacity is required, which is an important factor in embedded control systems.
1,545 citations
TL;DR: A tutorial introduction to the complex structured singular value (μ) is presented, with an emphasis on the mathematical aspects of μ.
1,515 citations
TL;DR: It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem and guarantees a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop.
Abstract: A novel robust adaptive controller for multi-input multi-output (MIMO) feedback linearizable nonlinear systems possessing unknown nonlinearities, capable of guaranteeing a prescribed performance, is developed in this paper. By prescribed performance we mean that the tracking error should converge to an arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small prespecified constant. Visualizing the prescribed performance characteristics as tracking error constraints, the key idea is to transform the ldquoconstrainedrdquo system into an equivalent ldquounconstrainedrdquo one, via an appropriately defined output error transformation. It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem. Besides guaranteeing a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop, the proposed robust adaptive controller is smooth with easily selected parameter values and successfully bypasses the loss of controllability issue. Simulation results on a two-link robot, clarify and verify the approach.
1,475 citations
TL;DR: In this paper, a new robust stability condition for uncertain discrete-time systems with convex polytopic uncertainty is given, which enables to check stability using parameter-dependent Lyapunov functions which are derived from LMI conditions.
1,456 citations