Disturbance Attenuation Control via Time-varying Input-to-State Stability Tracking Control Lyapunov Functions

Disturbance attenuation for curve trajectory tracking control systems is achieved by time-varying input-to-state stability tracking control Lyapunov functions (Time-varying ISS-TCLF). In this paper, we define a time-varying ISS-TCLF and confirm the Sontag-type time-varying ISS-CLF based controller achieves the constant ISS-gain characteristic. As one such example, we design a time-varying ISS-TCLF for vessel trajectory tracking control. The effectiveness of our proposed method is confirmed by computer simulation.