Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability. - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles IEEE Transactions on Automatic Control Year : 2012

Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability.

Abstract

We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggest the robust performance of the control laws under perturbations. In this note, we use input-to-state 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.
No file

Dates and versions

hal-00760652 , version 1 (04-12-2012)

Identifiers

  • HAL Id : hal-00760652 , version 1

Cite

Michael Malisoff, Frédéric Mazenc, Zhang Fumin. Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability.. IEEE Transactions on Automatic Control, 2012, 57, pp.1320-1326. ⟨hal-00760652⟩
129 View
0 Download

Share

Gmail Facebook X LinkedIn More