Robustness of adaptive control under time delays for three-dimensional curve tracking

Document Type

Article

Publication Date

1-1-2015

Abstract

We analyze the robustness of a class of controllers that enable three-dimensional curve tracking by a free moving particle. The free particle tracks the closest point on the curve. By building a strict Lyapunov function and robustly forward 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, including adaptive tracking and parameter identification under unknown control gains. Such an understanding may provide certified performance when the control laws are applied to real-life systems.

Publication Source (Journal or Book title)

SIAM Journal on Control and Optimization

First Page

2203

Last Page

2236

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