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

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    6April11MalisoffMazencZhangACC11Draft.pdf (244.5Kb)
    Date
    2011
    Author
    Malisoff, Michael
    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.
    URI
    http://hdl.handle.net/1853/45346
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