Input-to-State Stability for Curve Tracking Control: A Constructive Approach

Malisoff, Michael; Mazenc, Frédéric; Zhang, Fumin

Title:

Input-to-State Stability for Curve Tracking Control: A Constructive Approach

dc.contributor.author	Malisoff, Michael
dc.contributor.author	Mazenc, Frédéric
dc.contributor.author	Zhang, Fumin
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename	Louisiana State University (Baton Rouge, La.). Dept. of Mathematics
dc.contributor.corporatename	INRIA DISCO, CNRS
dc.date.accessioned	2012-11-14T19:51:25Z
dc.date.available	2012-11-14T19:51:25Z
dc.date.issued	2011
dc.description	©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	Presented at the American Control Conference (ACC 2011), 29 June-1 July 2011, San Francisco, CA.
dc.description.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.	en_US
dc.identifier.citation	Malisoff, M.; Mazenc, F.; & Zhang, F. (2011). "Input-to-State Stability for Curve Tracking Control: A Constructive Approach". Proceedings of the American Control Conference (ACC 2011), 29 June-1 July 2011, pp.1984-1989.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/45346
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Curve tracking	en_US
dc.subject	Robotics	en_US
dc.subject	Robustness	en_US
dc.title	Input-to-State Stability for Curve Tracking Control: A Constructive Approach	en_US
dc.type	Text
dc.type.genre	Post-print
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Zhang, Fumin
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication	65d2541f-4ce1-40d0-923b-09e66eb45b33
relation.isOrgUnitOfPublication	66259949-abfd-45c2-9dcc-5a6f2c013bcf