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

2012 ◽  
Vol 57 (5) ◽  
pp. 1320-1326 ◽  
Author(s):  
M. Malisoff ◽  
F. Mazenc ◽  
Fumin Zhang
Keyword(s):  
Tracking Control ◽  
Robustness Analysis ◽  
Curve Tracking

Three-Dimensional Curve Tracking for Particles Using Gyroscopic Control

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Chuanfeng Wang
Keyword(s):  
Tracking Control ◽  
Three Dimensional ◽  
Smooth Curve ◽  
Autonomous Agent ◽  
Control Law ◽  
Steering Control ◽  
3D Space ◽  
Moving Direction ◽  
Tangent Direction ◽  
Curve Tracking

Curve-tracking control is challenging and fundamental in many robotic applications for an autonomous agent to follow a desired path. In this paper, we consider a particle, representing a fully actuated autonomous robot, moving at unit speed under steering control in the three-dimensional (3D) space. We develop a feedback control law that enables the particle to track any smooth curve in the 3D space. Representing the 3D curve in the natural Frenet frame, we construct the control law under which the moving direction of the particle will be aligned with the tangent direction of the desired curve and the distance between the particle and the desired curve will converge to zero. We demonstrate the effectiveness of the proposed 3D curve-tracking control law in simulations.

Tracking control and robustness analysis for a nonlinear model of human heart rate during exercise

Automatica ◽  
2011 ◽  
Vol 47 (5) ◽  
pp. 968-974 ◽  
Author(s):  
Frédéric Mazenc ◽  
Michael Malisoff ◽  
Marcio de Querioz
Keyword(s):  
Heart Rate ◽  
Nonlinear Model ◽  
Tracking Control ◽  
Human Heart ◽  
Robustness Analysis
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