Search Results for author: Kasey Ackerman

Found 1 papers, 1 papers with code

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

1 code implementation9 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.

Motion Planning valid

Cannot find the paper you are looking for? You can Submit a new open access paper.