Tube-Certified Trajectory Tracking for Nonlinear Systems with Robust Control Contraction Metrics

Pan Zhao; Arun Lakshmanan; Kasey Ackerman; Aditya Gahlawat; Marco Pavone; Naira Hovakimyan

doi:10.1109/LRA.2022.3153712

Tube-Certified Trajectory Tracking for Nonlinear Systems with Robust Control Contraction Metrics

Pan Zhao, Arun Lakshmanan, Kasey Ackerman, Aditya Gahlawat, Marco Pavone, Naira Hovakimyan

Research output: Contribution to journal › Article › peer-review

Original language	English
Pages (from-to)	5528-5535
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2022.3153712
Publication status	Published - Apr 1 2022
Externally published	Yes

ASJC Scopus Subject Areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

Keywords

Integrated planning and control
nonlinear systems
planning under uncertainty
robot safety
robust control

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10.1109/LRA.2022.3153712

Cite this

Zhao, P., Lakshmanan, A., Ackerman, K., Gahlawat, A., Pavone, M., & Hovakimyan, N. (2022). Tube-Certified Trajectory Tracking for Nonlinear Systems with Robust Control Contraction Metrics. IEEE Robotics and Automation Letters, 7(2), 5528-5535. https://doi.org/10.1109/LRA.2022.3153712

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author = "Pan Zhao and Arun Lakshmanan and Kasey Ackerman and Aditya Gahlawat and Marco Pavone and Naira Hovakimyan",

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T1 - Tube-Certified Trajectory Tracking for Nonlinear Systems with Robust Control Contraction Metrics

AU - Zhao, Pan

AU - Lakshmanan, Arun

AU - Ackerman, Kasey

AU - Gahlawat, Aditya

AU - Pavone, Marco

AU - Hovakimyan, Naira

PY - 2022/4/1

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KW - planning under uncertainty

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Tube-Certified Trajectory Tracking for Nonlinear Systems with Robust Control Contraction Metrics

ASJC Scopus Subject Areas

Keywords

Access to Document

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