From 4e8c6c95a280876e48d597310d6ff050ec373bf4 Mon Sep 17 00:00:00 2001
From: Dane Sabo <dane.sabo@pitt.edu>
Date: Wed, 16 Oct 2024 10:37:19 -0400
Subject: [PATCH] vault backup: 2024-10-16 10:37:19

---
 .obsidian/plugins/colored-tags/data.json      |  9 +++-
 .../plugins/obsidian-style-settings/data.json |  4 +-
 .../farzanRobustControlSynthesis2020.md       | 50 +++++++++++++++++++
 How is robust control validation done?.md     |  2 +
 4 files changed, 62 insertions(+), 3 deletions(-)
 create mode 100644 200 Library Papers/farzanRobustControlSynthesis2020.md
 create mode 100644 How is robust control validation done?.md

diff --git a/.obsidian/plugins/colored-tags/data.json b/.obsidian/plugins/colored-tags/data.json
index d940207ae..1b1950e96 100755
--- a/.obsidian/plugins/colored-tags/data.json
+++ b/.obsidian/plugins/colored-tags/data.json
@@ -133,7 +133,14 @@
     "Open-loop-systems": 121,
     "Regulators": 122,
     "Three-term-control": 123,
-    "White-noise": 124
+    "White-noise": 124,
+    "Actuators": 125,
+    "Cable-TV": 126,
+    "Feedback-control": 127,
+    "Optimization": 128,
+    "Parametric-statistics": 129,
+    "Trajectory": 130,
+    "Uncertainty": 131
   },
   "_version": 3
 }
\ No newline at end of file
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index 7e521cbfc..fb0ea8483 100755
--- a/.obsidian/plugins/obsidian-style-settings/data.json
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@@ -3,8 +3,8 @@
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-  "anuppuccin-theme-settings-extended@@catppuccin-theme-dark-extended": "ctp-gruvbox-dark",
+  "anuppuccin-theme-settings-extended@@catppuccin-theme-extended": "ctp-notion-light",
+  "anuppuccin-theme-settings-extended@@catppuccin-theme-dark-extended": "ctp-notion-dark",
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diff --git a/200 Library Papers/farzanRobustControlSynthesis2020.md b/200 Library Papers/farzanRobustControlSynthesis2020.md
new file mode 100644
index 000000000..f08f42dbc
--- /dev/null
+++ b/200 Library Papers/farzanRobustControlSynthesis2020.md	
@@ -0,0 +1,50 @@
+---
+readstatus: false
+dateread:
+title: "Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization"
+year: 2020
+authors:
+
+  
+  - "Farzan, Siavash"
+  
+  - "Hu, Ai-Ping"
+  
+  - "Bick, Michael"
+  
+  - "Rogers, Jonathan"
+  
+
+citekey: "farzanRobustControlSynthesis2020"
+
+
+
+
+
+
+
+pages: 7744-7751
+
+---
+# Indexing Information
+## DOI
+[10.1109/IROS45743.2020.9341348](https://doi.org/10.1109/IROS45743.2020.9341348)
+## ISBN
+[](https://www.isbnsearch.org/isbn/)
+## Tags:
+#Actuators, #Cable-TV, #Feedback-control, #Optimization, #Parametric-statistics, #Trajectory, #Uncertainty
+
+>[!Abstract]
+>Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work on optimal trajectory generation and time-varying LQR controller design. We propose a novel simplified model for approximation of the flexible cable dynamics, which enables inclusion of parametric model uncertainties in the system. We then use semidefinite programming (SDP) and sum-of-squares (SOS) optimization to synthesize a time-varying feedback control with formal robustness guarantees to account for model uncertainties and unmeasurable states in the system. Through simulation, hardware experiments and comparison with a time-varying LQR controller, it is shown that the proposed robust controller results in relatively large robust backward reachable sets and is able to reliably track a pre-generated optimal trajectory and achieve the desired brachiating motion in the presence of parametric model uncertainties, actuator limits, and unobservable states.
+
+>[!note] Markdown Notes
+>None!
+
+>[!seealso] Related Papers
+>
+
+# Annotations
+
+### Imported: 2024-10-16 10:34 am
+
+
diff --git a/How is robust control validation done?.md b/How is robust control validation done?.md
new file mode 100644
index 000000000..8d81a4e76
--- /dev/null
+++ b/How is robust control validation done?.md	
@@ -0,0 +1,2 @@
+## Reading Some Papers
+### [[farzanRobustControlSynthesis2020]]