Document Type

Conference Proceeding

Publication Date

1-1-2013

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 robustness 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. © 2013 AACC American Automatic Control Council.

Publication Source (Journal or Book title)

Proceedings of the American Control Conference

First Page

5690

Last Page

5695

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