A Tutorial on Incremental Stability Analysis using Contraction Theory

被引：53
作者：
Jouffroy, J. [1 ]
Fossen, T. I. [2 ,3 ]
机构：
[1] Univ So Denmark, Mads Clausen Inst, DK-6400 Sonderborg, Denmark
[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway
[3] Norwegian Univ Sci & Technol, Ctr Ships & Ocean Struct, N-7491 Trondheim, Norway
来源：
MODELING IDENTIFICATION AND CONTROL | 2010年 / 31卷 / 03期
关键词：
Contraction theory; exponential stability; incremental stability; Lyapunov stability; methodology; NONLINEAR-SYSTEMS; OBSERVERS;
D O I：
10.4173/mic.2010.3.2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a methodology for differential nonlinear stability analysis using contraction theory (Lohmiller and Slotine, 1998). The methodology includes four distinct steps: the descriptions of two systems to be compared (the plant and the observer in the case of observer convergence analysis, the plant and the controller in the case of tracking controller analysis), the definition of an abstract system common to the two systems and denoted as the "virtual system", and the convergence study of the virtual system using its virtual dynamics representation. The approach is illustrated on several simple examples.
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收藏
页码：93 / 106
页数：14
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