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This paper represents a new approach for the design of variable structure control of robot manipulator systems with parameter perturbations. A new sliding mode control law is introduced with the idea of constructing a discontinuous relay controller. The approach is based on establishing the sufficient conditions for the existence of a sliding mode in the robot arm system. The techniques of matrix...
In this paper, a novel robust delay-dependent guaranteed cost controller is introduced for a class of uncertain nonlinear neutral systems with both norm-bounded uncertainties and nonlinear parameter perturbations. A neutral memory state-feedback control law is chosen such that a quadratic cost function is minimized. On the basis of a descriptor type model transformation, an augmented descriptor form...
The problem of stability of linear time-delay systems of retarded type is taken into consideration. A new extensively augmented Lyapunov-Krasovskii functional is introduced and some sufficient delay-dependent stability criteria are derived in terms of linear matrix inequalities (LMIs). Utilization of any model transformation method or any kind of bounding for the cross terms are strictly avoided in...
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