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Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability.

Michael Malisoff 1 Frédéric Mazenc 2 Zhang Fumin 3
1 Department of Mathematics
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France
3 School of Electrical and Computer Engineering
Abstract : We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggest 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.
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https://hal.inria.fr/hal-00760652
Contributor : Frederic Mazenc <>
Submitted on : Tuesday, December 4, 2012 - 11:14:06 AM
Last modification on : Tuesday, April 13, 2021 - 12:20:11 PM

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  • HAL Id : hal-00760652, version 1

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CNRS | INRIA | SUP_LSS | SUP_SYSTEMES | L2S | DISCO-L2S

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Michael Malisoff, Frédéric Mazenc, Zhang Fumin. Stability and Robustness Analysis for Curve Tracking Control using Input-to-State Stability.. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2012, 57, pp.1320-1326. ⟨hal-00760652⟩

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