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

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    Date
    2013-06
    Author
    Malisoff, Michael
    Zhang, Fumin
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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
    URI
    http://hdl.handle.net/1853/50897
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