Bound Of System Uncertainties Research Articles

Uncertain discrete systems: uniform ultimate bounded stabilization

The stabilization problem of a class of linear time-invariant, discrete systems with additive-type uncertainties is discussed. The dynamical system contains uncertain elements that are known to belong to prescribed compact bounding intervals. In addition, the system to be corrupted by uncertain bounded inputs is considered. A two-part switching feedback controller structure is developed in order to stabilize the uncertain dynamical system. The form of the controller (a linear part + a non-, linear part) guarantees global uniform ultimate boundedness under certain hypotheses on the bounded system uncertainties, as well as on bounded admissible additive disturbances. The performance of the uncertain system under the application of the proposed controller is compared with that using a purely linear controller. The proposed system gives superior performance.

Robust Control for Manipulators with Uncertain Dynamics

Increase in the applications of manipulators in industry and automated manufacturing systems calls for more robust manipulator controllers. A major problem for most of the present control schemes is the inability to deal with dynamic uncertainties associated with a manipulator or its surroundings. This paper considers such uncertainties and presents a robust control scheme for industrial manipulators. This scheme has a variable structure to compensate for bounded system uncertainties. To illustrate the feasibility of this controller, it has been applied to a General Electric P50 robot. The control design procedure and the implementation results on GE-P50 robot are presented. The importance of the uncertainty compensator portion of the controller in producing excellent tracking is illustrated.

A variable structure approach to feedback regulation of uncertain dynamical systems

Feedback control of uncertain dynamical systems is considered. Adopting a deterministic approach based on the theory of variable structure systems, a feedback regulator is developed which guarantees global asymptotic stability or global ultimate boundedness under certain hypotheses on the bounded system uncertainties and disturbances.