Title

An adaptive control design for 3D curve tracking based on robust forward invariance

Document Type

Conference Proceeding

Publication Date

1-1-2013

Abstract

We study a class of adaptive controllers for three dimensional (3D) curve tracking under control uncertainty and unknown control gains. Using robust forward invariance and a Lyapunov-Krasovskii functional, we prove input-to-state stable tracking and parameter identification under input delays and a class of polygonal state constraints. This yields predictable tolerance and safety bounds, and compensation of arbitrarily long input delays in the important case where the delays only occur in the speed measurements in the controls. © 2013 IEEE.

Publication Source (Journal or Book title)

Proceedings of the IEEE Conference on Decision and Control

First Page

4473

Last Page

4478

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