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

M. 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, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
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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Article dans une revue
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2012, 57, pp.1320-1326
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https://hal.inria.fr/hal-00760652
Contributeur : Frederic Mazenc <>
Soumis le : mardi 4 décembre 2012 - 11:14:06
Dernière modification le : jeudi 5 avril 2018 - 12:30:13

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M. 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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