1 code implementation • 9 Sep 2021 • Pan Zhao, Arun Lakshmanan, Kasey Ackerman, Aditya Gahlawat, Marco Pavone, Naira Hovakimyan
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$ gain from the disturbances to nominal-actual trajectory deviations.