DocumentCode
2850983
Title
Applications of contraction analysis
Author
Lohmiller, Winfried ; Slotine, Jean-Jacques E.
Author_Institution
Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
Volume
2
fYear
1997
fDate
10-12 Dec 1997
Firstpage
1044
Abstract
Recently, there has been considerable interest in analyzing feedback controllers for biological motor control systems as combinations of simpler elements, or motion primitives. Similarly, although its connection to biology is somewhat looser, research on “artificial neural networks” has also studied the use of basis functions (or, more generally, frames) in adaptive nonlinear control. Contraction analysis (Lohmiller and Slotine, 1996, 1997) may provide useful tools to analyze such systems, as this paper sketches. We also discuss related applications to the control of flexible robots
Keywords
control system analysis; convergence; feedback; nonlinear systems; observers; robot dynamics; state-space methods; contraction analysis; convergence; dynamics; flexible robots; mechanical systems; nonlinear systems; observers; state space method; Adaptive control; Control systems; Convergence; Equations; Laboratories; Motor drives; Neural networks; Nonlinear control systems; Nonlinear systems; State-space methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.657584
Filename
657584
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