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

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.