Methodological remarks on contraction theory

J. Jouffroy, J.-J.E. Slotine

Publikation: Bidrag til bog/antologi/rapportKonferenceartikel i proceedingpeer review


Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. This paper specifically studies this issue, and illustrates it by revisiting some classical examples traditionally addressed using Lyapunov theory. Even in these cases, contraction tools can often yield significantly simplified analysis. The examples include adaptive control, robotics, and a proof of convergence of the deterministic extended Kalman filter.
TitelProceedings of the IEEE Conference on Decision and Control
StatusUdgivet - 2004
Udgivet eksterntJa


  • Teknik, ingeniørvidenskab og IT
  • Contraction analysis
  • Nonlinear systems
  • Stability theory