Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints
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Malisoff, Michael
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Abstract
We analyze the robustness of a class of controllers
that enable three-dimensional curve tracking of free moving
particles. By building a strict Lyapunov function and robustly
forwardly invariant sets, we show input-to-state stability under
predictable tolerance and safety bounds that guarantee robust-
ness under control uncertainty, input delays, and a class of
polygonal state constraints. Such understanding may provide
certified performance when the control laws are applied to real
life systems. We demonstrate our findings in simulations
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Date
2013-06
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