@article{e51bdff03de411dda26c000ea68e967b,

title = "A remark on {"}Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity{"}",

abstract = "For original paper see T.I.Fossen and M.Blanke, ibid., vol.25, pp.241-55 (2000). In the work presented by Fossen and Blanke, a nonlinear observer for estimation of propeller axial flow velocity for UUVs was introduced. The proof of the convergence behavior of the observer was carried out with a Lyapunov analysis. In this technical communication, such an analysis was also briefly compared with the so-called contraction analysis. This communication goes further into the details of the comparison by proving - through a link between contracting and globally exponentially stable (GES) systems - that the observer is both contracting and GES, showing thus that contraction analysis might be regarded as an interesting alternative to Lyapunov-based designs. Furthermore, some qualitative advantages gained when using contraction analysis are given.",

keywords = "contraction theory, Lyapunov-based methods, nonlinear control, observers, underwater vehicles",

author = "Jerome Jouffroy and Jacques Lottin",

year = "2002",

month = oct,

day = "1",

language = "English",

volume = "27",

pages = "873--875",

journal = "IEEE Journal of Oceanic Engineering",

issn = "0364-9059",

publisher = "IEEE",

number = "4",

}