Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Time-Optimal Path Tracking via Reachability Analysis   Given a geometric path, the Time-Optimal Path Tracking problem consists in
finding the control strategy to traverse the path time-optimally while
regulating tracking errors. A simple yet effective approach to this problem is
to decompose the controller into two components: (i)~a path controller, which
modulates the parameterization of the desired path in an online manner,
yielding a reference trajectory; and (ii)~a tracking controller, which takes
the reference trajectory and outputs joint torques for tracking. However, there
is one major difficulty: the path controller might not find any feasible
reference trajectory that can be tracked by the tracking controller because of
torque bounds. In turn, this results in degraded tracking performances. Here,
we propose a new path controller that is guaranteed to find feasible reference
trajectories by accounting for possible future perturbations. The main
technical tool underlying the proposed controller is Reachability Analysis, a
new method for analyzing path parameterization problems. Simulations show that
the proposed controller outperforms existing methods.

5
The categories of this paper are: gr-qc
18
The categories of this paper are: econ
16
The categories of this paper are: stat
3
The categories of this paper are: physics
34
The categories of this paper are: chem-ph
2
The categories of this paper are: math
26
The categories of this paper are: bayes-an
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The categories of this paper are: astro-ph
19
The categories of this paper are: eess
8
The categories of this paper are: hep-ex
14
The categories of this paper are: math-ph
32
The categories of this paper are: atom-ph
7
The categories of this paper are: hep-th
28
The categories of this paper are: alg-geom
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The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph