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What is Robust Control

Chapter 16
Handbook of Research on Advancements in Robotics and Mechatronics
Robust control is a method which is particularly focusing on the implications of model uncertainty and external disturbances.
Published in Chapter:
Control of a Biomimetic Robot Hand Finger: Classical, Robust, and Intelligent Approaches
Yunus Ziya Arslan (Istanbul University, Turkey), Yuksel Hacioglu (Istanbul University, Turkey), Yener Taskin (Istanbul University, Turkey), and Nurkan Yagiz (Istanbul University, Turkey)
Copyright: © 2015 |Pages: 25
DOI: 10.4018/978-1-4666-7387-8.ch016
Abstract
Due to the dexterous manipulation capability and low metabolic energy consumption property of the human hand, many robotic hands were designed and manufactured that are inspired from the human hand. One of the technical challenges in designing biomimetic robot hands is the control scheme. The control algorithm used in a robot hand is expected to ensure the tracking of reference trajectories of fingertips and joint angles with high accuracy, reliability, and smoothness. In this chapter, trajectory-tracking performances of different types of widely used control strategies (i.e. classical, robust, and intelligent controllers) are comparatively evaluated. To accomplish this evaluation, PID, sliding mode, and fuzzy logic controllers are implemented on a biomimetic robot hand finger model and simulation results are quantitatively analyzed. Pros and cons of the corresponding control algorithms are also discussed.
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More Results
Chapter 20
Robust Iterative Learning Control for Linear Discrete-Time Switched Systems
A branch of control theory that explicitly deals with uncertainty in its approach to controller design. Robust control methods are designed to function properly so long as uncertain parameters or disturbances are within some (typically compact) set. Robust methods aim to achieve robust performance and/or stability in the presence of bounded modeling errors.
Published in Chapter: Robust Iterative Learning Control for Linear Discrete-Time Switched Systems; From: Handbook of Research on Advanced Intelligent Control Engineering and Automation
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Chapter 5
On Proportional Plus Derivative State Feedback H2 Control for Descriptor Systems
Considers the design of decision or control rules that fare well across a range of alternative models. Thus robust control is inherently about model uncertainty, particularly focusing on the implications of model uncertainty for decisions.
Published in Chapter: On Proportional Plus Derivative State Feedback H2 Control for Descriptor Systems; From: Handbook of Research on Advanced Intelligent Control Engineering and Automation
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Chapter 8
Robust Fuzzy Digital PID Controller Design: A Contribution for Advanced Studies in Control and Automation
A control action designed to track a reference trajectory and keep stability, despite of uncertainties of the process to be controlled.
Published in Chapter: Robust Fuzzy Digital PID Controller Design: A Contribution for Advanced Studies in Control and Automation; From: Handbook of Research on Artificial Intelligence Techniques and Algorithms
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