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Our objective in this paper is to extend as much as possible the dissipativity approach for the study of robustness of stability in the presence of known/unknown but ignored input dynamics. This leads us to: • give a new characterization of control Lyapunov functions (CLF) where LfV is upper-bounded by a function of LgV, • define the dissipativity approach as : — assuming the ignored dynamics are...
In this paper we present a systematic procedure to design robust fuzzy controller for exponentially stabilizing affine nonlinear systems, based on their TS fuzzy model. For robust design we consider modeling error in TS model and as well as perturbation in the original nonlinear system. Minimization of cost function along with mapping closed loop poles to desired poles are considered simultaneously...
A robust inverse optimal adaptive visual servo controller is described that asymptotically regulates a camera's pose to a desired pose despite uncertainty in the time-varying distance from the camera to the target and parametric uncertainty in the camera calibration matrix. A high gain robust inverse optimal controller asymptotically stabilizes the rotation error system, whereas, an inverse optimal...
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