On the use of contraction theory for the design of nonlinear observers for ocean vehicles

J. Jouffroy; J. Lottin

doi:10.1109/ACC.2002.1025186

On the use of contraction theory for the design of nonlinear observers for ocean vehicles

J. Jouffroy
, J. Lottin

L'Université De Savoie

Research output: Contribution to journal › Journal article › Research › peer-review

Abstract

Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are verified when using design tools based on new concepts of stability may be of significant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is first given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.

Original language	English
Journal	Proceedings Of the American Control Conference
ISSN	0743-1619
DOIs	https://doi.org/10.1109/ACC.2002.1025186
Publication status	Published - 2002
Externally published	Yes

Keywords

technology, engineering and IT
Contraction analysis
Nonlinear systems
Observer design
Stability theory

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10.1109/ACC.2002.1025186

Cite this

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title = "On the use of contraction theory for the design of nonlinear observers for ocean vehicles",

abstract = "Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are verified when using design tools based on new concepts of stability may be of significant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is first given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.",

keywords = "technology, engineering and IT, Contraction analysis, Nonlinear systems, Observer design, Stability theory",

author = "J. Jouffroy and J. Lottin",

year = "2002",

doi = "10.1109/ACC.2002.1025186",

language = "English",

journal = "Proceedings Of the American Control Conference",

issn = "0743-1619",

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AU - Jouffroy, J.

AU - Lottin, J.

PY - 2002

Y1 - 2002

N2 - Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are verified when using design tools based on new concepts of stability may be of significant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is first given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.

AB - Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are verified when using design tools based on new concepts of stability may be of significant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is first given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.

KW - technology, engineering and IT

KW - Contraction analysis

KW - Nonlinear systems

KW - Observer design

KW - Stability theory

UR - https://www.scopus.com/pages/publications/0036061029

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DO - 10.1109/ACC.2002.1025186

M3 - Journal article

SN - 0743-1619

JO - Proceedings Of the American Control Conference

JF - Proceedings Of the American Control Conference

ER -

On the use of contraction theory for the design of nonlinear observers for ocean vehicles

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Keywords

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