Input-to-State Stability for Curve Tracking Control: A Constructive Approach

©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Presented at the American Control Conference (ACC 2011), 29 June-1 July 2011, San Francisco, CA.We analyze an important class of feedback controllers for curve tracking problems for robotics. Earlier experimental work suggested the robust performance of the control laws under perturbations. In this note, we use input-tostate 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