Methodological remarks on contraction theory

Jerome Jouffroy, Jean-Jacques E. Slotine

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. This paper specifically studies this issue, and illustrates it by revisiting some classical examples traditionally addressed using Lyapunov theory. Even in these cases, contraction tools can often yield significantly simplified analysis. The examples include adaptive control, robotics, and a proof of convergence of the deterministic Extended Kalman Filter.
OriginalsprogEngelsk
Publikationsdato2004
StatusUdgivet - 2004
BegivenhedConference on Decision and Control (CDC'04) - Atlantis, Paradise Island, Bahamas
Varighed: 24. aug. 2010 → …

Konference

KonferenceConference on Decision and Control (CDC'04)
LandBahamas
ByAtlantis, Paradise Island
Periode24/08/2010 → …

Fingeraftryk

Contraction
Robotics
Extended Kalman filter
Adaptive control
Methodology
Incremental

Citer dette

Jouffroy, J., & Slotine, J-J. E. (2004). Methodological remarks on contraction theory. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.
Jouffroy, Jerome ; Slotine, Jean-Jacques E. / Methodological remarks on contraction theory. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.
@conference{8cd461303dfa11dda26c000ea68e967b,
title = "Methodological remarks on contraction theory",
abstract = "Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. This paper specifically studies this issue, and illustrates it by revisiting some classical examples traditionally addressed using Lyapunov theory. Even in these cases, contraction tools can often yield significantly simplified analysis. The examples include adaptive control, robotics, and a proof of convergence of the deterministic Extended Kalman Filter.",
author = "Jerome Jouffroy and Slotine, {Jean-Jacques E.}",
year = "2004",
language = "English",
note = "null ; Conference date: 24-08-2010",

}

Jouffroy, J & Slotine, J-JE 2004, 'Methodological remarks on contraction theory' Paper fremlagt ved Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas, 24/08/2010, .

Methodological remarks on contraction theory. / Jouffroy, Jerome; Slotine, Jean-Jacques E.

2004. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

TY - CONF

T1 - Methodological remarks on contraction theory

AU - Jouffroy, Jerome

AU - Slotine, Jean-Jacques E.

PY - 2004

Y1 - 2004

N2 - Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. This paper specifically studies this issue, and illustrates it by revisiting some classical examples traditionally addressed using Lyapunov theory. Even in these cases, contraction tools can often yield significantly simplified analysis. The examples include adaptive control, robotics, and a proof of convergence of the deterministic Extended Kalman Filter.

AB - Because contraction analysis stems from a differential and incremental framework, the nature and methodology of contraction-based proofs are significantly different from those of their Lyapunov-based counterparts. This paper specifically studies this issue, and illustrates it by revisiting some classical examples traditionally addressed using Lyapunov theory. Even in these cases, contraction tools can often yield significantly simplified analysis. The examples include adaptive control, robotics, and a proof of convergence of the deterministic Extended Kalman Filter.

M3 - Paper

ER -

Jouffroy J, Slotine J-JE. Methodological remarks on contraction theory. 2004. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.