Robustness of adaptive control for three-dimensional curve tracking under state constraints: Effects of scaling control terms

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Conference Proceeding

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In a recent SIAM Journal on Control and Optimization article, our team analyzed the robustness of a class of adaptive three-dimensional curve tracking controls for free moving particles, using penalty functions and robustly forward invariant sets with maximum allowable perturbation bounds. This allowed us to track curves, identify unknown control gains, and provide predictable tolerance and safety bounds. In this work, we provide a variant of our SIAM article. We provide a new method to maintain robust forward invariance of compact regions in the state space, under arbitrarily large perturbation bounds. Our new technique entails scaling certain control components. It provides a substantially different algorithm from our SIAM article and is suitable for real time applications.

Publication Source (Journal or Book title)

2016 IEEE 55th Conference on Decision and Control, CDC 2016

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