Robust output maneuvering for a class of nonlinear systems. (Q1428122)

The general output maneuvering problem is divided into a geometric task and a dynamic task. The geometric task is to reach the path and then to stay on it, while the dynamic task is to satisfy a time, speed, or acceleration assignment along the path. Here, a robust maneuvering problem is considered for systems in the presence of bounded disturbances. In recursive steps the design solves the geometric task. It proceeds then to construct an update law that ties together the geometric design with the speed assignment, which may depend on the path or may be an exogenous time signal. Some illustrations are given.