Control system design for mechanical systems using contraction theory

Author

Lohmiller, Winfried ; Slotine, Jean-Jacques E.

Author_Institution

Nonlinear Syst. Lab., MIT, Cambridge, MA, USA

Volume

Issue

fYear

2000

fDate

5/1/2000 12:00:00 AM

Firstpage

984

Lastpage

989

Abstract

Contraction theory is a control system tool based on an exact differential analysis of convergence. After establishing new combination properties of contracting systems, the paper derives new controller and observer designs for mechanical systems such as aircraft and underwater vehicles. The classical nonlinear strap down algorithm is also shown to be marginally contracting. The relative simplicity of the approach stems from its effective exploitation of the systems´ structural specificities

Keywords

aircraft control; control system synthesis; convergence; differential equations; dynamics; nonlinear control systems; stability; underwater vehicles; classical nonlinear strap down algorithm; contracting systems; contraction theory; control system design; exact differential analysis; mechanical systems; structural specificities; Aerospace control; Aircraft; Control systems; Convergence; Equations; Mechanical systems; Nonlinear systems; Stability analysis; System analysis and design; Underwater vehicles;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.855568

Filename

855568

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1364833