Now showing items 1-3 of 3
Curve Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors
(Georgia Institute of Technology, 2009)
In this paper, we present feedback control laws for an autonomous vehicle with rigidly mounted range sensors to track a desired curve. In particular, we consider a vehicle that has a group of rays around two center ...
Input-to-State Stability for Curve Tracking Control: A Constructive Approach
(Georgia Institute of Technology, 2011)
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 ...
Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints
(Georgia Institute of Technology, 2013-06)
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 ...