Title :
On the combination of nonlinear contracting observers and UGES controllers for output feedback
Author :
Jouffroy, Jérôme ; Fossen, Thor I.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The paper presents a systematic method for design of observer-controllers in cascade. Uniform global exponential stability (UGES) of the resulting system is proven by assuming that the feedback control system is UGES and that the nonlinear observer can be designed using contracting analysis. The relationship between a globally contracting and UGES observer is derived using Lyapunov analysis and a line integral which follows from Taylor´s theorem.
Keywords :
asymptotic stability; control system synthesis; nonlinear control systems; observers; state feedback; Lyapunov analysis; UGES controllers; contracting analysis; line integral; nonlinear contracting observers; output feedback; uniform global exponential stability; Control systems; Cybernetics; Design engineering; Design methodology; Jacobian matrices; Marine vehicles; Nonlinear control systems; Observers; Output feedback; State estimation;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429588
