Methodological remarks on contraction theory

J. Jouffroy; J.-J.E. Slotine

Methodological remarks on contraction theory

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

Publikation: Bidrag til bog/antologi/rapport › Konferenceartikel i proceeding › peer review

Abstract

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.

Originalsprog	Engelsk
Titel	Proceedings of the IEEE Conference on Decision and Control
Publikationsdato	2004
Status	Udgivet - 2004
Udgivet eksternt	Ja

Emneord

Teknik, ingeniørvidenskab og IT
Contraction analysis
Nonlinear systems
Stability theory

Andre filer og links

http://www.scopus.com/inward/record.url?eid=2-s2.0-14244256803&partnerID=MN8TOARS

Citationsformater

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N2 - 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.

AB - 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.

KW - technology, engineering and IT

KW - Contraction analysis

KW - Nonlinear systems

KW - Stability theory

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M3 - Conference contribution to proceeding

BT - Proceedings of the IEEE Conference on Decision and Control

ER -