We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggested the robust performance of the control laws under perturbations. In this note, we use input-to-state stability to prove predictable tolerance and safety bounds that guarantee robust performance. Our work uses an invariant polygon argument and a new strict Lyapunov function design. We demonstrate our findings in simulations. © 2011 AACC American Automatic Control Council.
Publication Source (Journal or Book title)
Proceedings of the American Control Conference
Malisoff, M., Mazenc, F., & Zhang, F. (2011). Input-to-state stability for curve tracking control: A constructive approach. Proceedings of the American Control Conference, 1984-1989. https://doi.org/10.1109/acc.2011.5991125