Title:
Input-to-State Stability for Curve Tracking Control: A Constructive Approach
Input-to-State Stability for Curve Tracking Control: A Constructive Approach
Author(s)
Malisoff, Michael
Mazenc, Frédéric
Zhang, Fumin
Mazenc, Frédéric
Zhang, Fumin
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Abstract
We analyze an important class of feedback controllers
for curve tracking problems for robotics. Earlier
experimental work suggested the robust performance of the
control laws under perturbations. In this note, we use input-tostate
stability to prove predictable tolerance and safety bounds
that guarantee robust performance. Our work uses an invariant
polygon argument and a new strict Lyapunov function design.
We demonstrate our findings in simulations.
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Date Issued
2011
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Text
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Post-print
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Proceedings