Title :
Applications of contraction analysis
Author :
Lohmiller, Winfried ; Slotine, Jean-Jacques E.
Author_Institution :
Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
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;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657584
