• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Underwater Robotics
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Articles and Papers
    • Underwater Robotics
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints

    Thumbnail
    View/Open
    [44]2013ACC_1314_FI.pdf (257.8Kb)
    Date
    2013-06
    Author
    Malisoff, Michael
    Zhang, Fumin
    Metadata
    Show full item record
    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
    URI
    http://hdl.handle.net/1853/50897
    Collections
    • Underwater Robotics [25]
    • Underwater Robotics Publications [25]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology