Development and application of adaptive robust control systems.

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In this rsesearch project, we have constructed a new type of robust adaptive control system composed of a robustifying mechanism, a disturbance estimation mechanism and an adaptive mechanism. And we have analyzed rigorously the control system properties such as the boundedness and transient performance of the signals. Then we have proposed a distributed adaptive robust control system of the robot with an adaptive mechanism robust mechanism, and disturbance estimation mechanism. Furthermore, we have propose a distributed robust control method for synchronised tracking of networked Euler-Lagrange systems (robots), where the time-varying reference trajectory is sent to only a subset of the agents.