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dc.contributor.authorMalisoff, Michael
dc.contributor.authorZhang, Fumin
dc.date.accessioned2014-02-14T23:00:34Z
dc.date.available2014-02-14T23:00:34Z
dc.date.issued2013-06
dc.identifier.citationMalisoff, M. & Zhang, F. (2013). "Robustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraints". Proceedings of the American Control Conference (ACC 2013), 17-19 June 2013, pp.5690-5695.en_US
dc.identifier.isbn978-1-4799-0177-7
dc.identifier.issn0743-1619 (Print)
dc.identifier.urihttp://hdl.handle.net/1853/50897
dc.description©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the American Control Conference (ACC 2013), 17-19 June 2013, Washington, D.C.
dc.description.abstractWe 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 simulationsen_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCurve trackingen_US
dc.subjectRoboticsen_US
dc.subjectRobustnessen_US
dc.titleRobustness of a Class of Three-Dimensional Curve Tracking Control Laws Under Time Delays and Polygonal State Constraintsen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameLouisiana State University (Baton Rouge, La.). Dept. of Mathematics
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.embargo.termsnullen_US


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