Robust control
Related papers: 20
About
Robust control is a branch of control theory focused on designing controllers that maintain stable, reliable performance even when a system faces uncertainties, disturbances, or modeling errors. Unlike classical controllers that assume precise knowledge of system dynamics, robust control methods explicitly account for parameter variations, unmodeled dynamics, and external perturbations, guaranteeing acceptable behavior across a range of conditions. In robotics and AI, robust control is widely applied to manipulators, legged robots, mobile platforms, and aerial vehicles. Common techniques include sliding mode control, which drives system states onto a desired trajectory despite disturbances; adaptive robust control, which estimates unknown parameters online; and backstepping methods that systematically handle nonlinear dynamics. These approaches are often combined with neural networks or fuzzy logic to compensate for complex, hard-to-model uncertainties in real-world environments. Robust control matters because real robots operate in unpredictable conditions — varying payloads, joint friction, contact forces, and sensor noise can all degrade performance or cause instability. By guaranteeing bounded tracking errors and stability under worst-case scenarios, robust control enables safe, precise operation in demanding applications such as surgical robotics, industrial automation, and autonomous locomotion over challenging terrain.
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Robot dynamics and control
Mark W. Spong
Citations: 3821 • 1989
Continuous finite-time control for robotic manipulators with terminal sliding mode
Shuanghe Yu, Xinghuo Yu, Bijan Shirinzadeh, Zhihong Man
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Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
Charalampos P. Bechlioulis, George A. Rovithakis
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Learning quadrupedal locomotion over challenging terrain
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A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
Andrew P. Papliński, Hong Ren Wu
Citations: 966 • 1994
Evolutionary algorithms in control systems engineering: a survey
P.J. Fleming, Robin C. Purshouse
Citations: 617 • 2002
Neural-Network-Based Terminal Sliding-Mode Control of Robotic Manipulators Including Actuator Dynamics
Liangyong Wang, Tianyou Chai, Lianfei Zhai
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The Robust Control of Robot Manipulators
Jean-Jacques Slotine
Citations: 563 • 1985
Feedback linearizing control of switched reluctance motors
Marija Ilić-Spong, R. Marino, S. Peresada, David G. Taylor
Citations: 475 • 1987
Force Tracking Impedance Control of Robot Manipulators Under Unknown Environment
Seul Jung, T.C. Hsia, R.G. Bonitz
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An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators
Mien Van, Michalis Mavrovouniotis, Shuzhi Sam Ge
Citations: 465 • 2018
Robust control design with Matlab
Herbert Werner
Citations: 460 • 2006
Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control
Maolin Jin, Jinoh Lee, Pyung Hun Chang, Chintae Choi
Citations: 422 • 2009
On the robust control of robot manipulators
Mark W. Spong
Citations: 421 • 1992
A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems
Yansheng Yang, Gang Feng, Junsheng Ren
Citations: 398 • 2004
Survey of robust control for rigid robots
Chaouki T. Abdallah, D.M. Dawson, P. Dorato, M. Jamshidi
Citations: 390 • 1991
Robust adaptive finite‐time parameter estimation and control for robotic systems
Jing Na, Muhammad Nasiruddin Mahyuddin, Guido Herrmann, Xuemei Ren, Phil Barber
Citations: 387 • 2014
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion
Johannes Englsberger, Christian Ott, Alin Albu‐Schäffer
Citations: 364 • 2015
Robust control barrier functions for constrained stabilization of nonlinear systems
Mrdjan Janković
Citations: 363 • 2018
Robust Sliding Mode Control for Robot Manipulators
Shafiqul Islam
Citations: 351 • 2010