Methodological remarks on contraction theory

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

Methodological remarks on contraction theory

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

Norwegian University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution to 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.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publication date	2004
Publication status	Published - 2004
Externally published	Yes

Keywords

technology, engineering and IT

Cite this

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title = "Methodological remarks on contraction theory",

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.",

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AU - Slotine, J.-J.E.

PY - 2004

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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

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

M3 - Conference contribution to proceeding

BT - Proceedings of the IEEE Conference on Decision and Control

ER -

Methodological remarks on contraction theory

Abstract

Keywords

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Cite this