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An increasingly important issue in the area of uncertain systems is the estimation of the Robust Domain of Attraction (RDA). Though this topic is of great interest, most of attention has been paid to the RDA for uncertain polynomial systems. This paper considers the RDA for rational polynomial systems and non-polynomial systems, both with parametric uncertainties, which are constrained in a semialgebraic...
We propose a new method for controlling rigid robot manipulators guaranteeing that a user-defined tracking performance is ultimately met while facing uncertain system dynamics and input disturbance. Our control approach is based on the passivity-based control technique and eliminates the limitations of existing methods (e.g. impractical tuning to avoid chattering and difficult estimation of uncertainty...
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