An adaptive control design for 3D curve tracking based on robust forward invariance

Author

Malisoff, Michael ; Fumin Zhang

Author_Institution

Dept. of Math., Louisiana State Univ., Baton Rouge, LA, USA

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

4473

Lastpage

4478

Abstract

We study a class of adaptive controllers for three dimensional (3D) curve tracking under control uncertainty and unknown control gains. Using robust forward invariance and a Lyapunov-Krasovskii functional, we prove input-to-state stable tracking and parameter identification under input delays and a class of polygonal state constraints. This yields predictable tolerance and safety bounds, and compensation of arbitrarily long input delays in the important case where the delays only occur in the speed measurements in the controls.

Keywords

Lyapunov methods; adaptive control; compensation; control system synthesis; delays; marine control; mobile robots; parameter estimation; robust control; tracking; 3D curve tracking; Lyapunov-Krasovskii functional design; adaptive control design; arbitrarily long input delay compensation; control uncertainty; input-to-state stable tracking; marine robots; mobile robots; parameter identification; polygonal state constraints; predictable tolerance; robust forward invariance; safety bounds; three dimensional curve tracking; unknown control gains; Delays; Lyapunov methods; Robots; Robustness; Three-dimensional displays; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6760578

Filename

6760578