DocumentCode
3179596
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
Volume
5
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
4933
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1429588
Filename
1429588
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