DocumentCode
1366791
Title
Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability
Author
Malisoff, Michael ; Mazenc, Frédéric ; Zhang, Fumin
Author_Institution
Dept. of Math., Louisiana State Univ., Baton Rouge, LA, USA
Volume
57
Issue
5
fYear
2012
fDate
5/1/2012 12:00:00 AM
Firstpage
1320
Lastpage
1326
Abstract
We study an important class of feedback controllers that arise in curve tracking problems for robotics. Previous experimental results suggested the robust performance of the control laws under perturbations. Here we use input-to-state stability to prove predictable tolerance and safety bounds that ensure robust performance under perturbations and time delays. Our proofs are based on an invariant polygon argument and a new strict Lyapunov function design.
Keywords
Lyapunov methods; delays; feedback; robust control; Lyapunov function design; curve tracking control; feedback controllers; input-to-state stability; invariant polygon argument; robust performance; robustness analysis; stability analysis; time delays; Aerospace electronics; Delay; Lyapunov methods; Robots; Robustness; Stability analysis; Trajectory; Input-to-state stability; mobile robot curve tracking; robotics; robust control; stability of NL systems;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2011.2174664
Filename
6068226
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