The traveling-wave antenna for heating and current drive in the ion cyclotron range of frequencies is shown theoretically to have loading and wavenumber spectra that are largely independent of plasma conditions. These characteristics have been demonstrated in low-power experiments on the DIII-D tokamak, in which a standard four-strap antenna was converted to a traveling-wave antenna through use of external coupling elements. The experiments indicate that the array maintains good impedance matching without dynamic tuning during abrupt changes in the plasma, such as during L- to H-mode transitions, edge-localized mode activity, and disruptions. An analytic model was developed that exhibits the features observed in the experiments. Guidelines for the design of traveling-wave antennas are derived from the validated model.