| Autor: |
MALISOFF, MICHAEL, FUMIN ZHANG |
| Předmět: |
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| Zdroj: |
SIAM Journal on Control & Optimization; 2015, Vol. 53 Issue 4, p2203-2036, 34p |
| Abstrakt: |
We analyze the robustness of a class of controllers that enable three-dimensional curve tracking by a free moving particle. The free particle tracks the closest point on the curve. By building a strict Lyapunov function and robustly forward 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 of polygonal state constraints, including adaptive tracking and parameter identification under unknown control gains. Such an understanding may provide certified performance when the control laws are applied to real-life systems. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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