Robustness of a class of three-dimensional curve tracking control laws under time delays and polygonal state constraints

Abstract

We analyze the robustness of a class of controllers that enable three-dimensional curve tracking of free moving particles. By building a strict Lyapunov function and robustly forwardly 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… (More)

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Cite this paper

@article{Malisoff2013RobustnessOA, title={Robustness of a class of three-dimensional curve tracking control laws under time delays and polygonal state constraints}, author={Michael Malisoff and Fumin Zhang}, journal={2013 American Control Conference}, year={2013}, pages={5690-5695} }