On the combination of nonlinear contracting observers and UGES controllers for output feedback

Jerome Jouffroy, Thor I. Fossen

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Abstrakt

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.
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)
Land/OmrådeBahamas
ByAtlantis, Paradise Island
Periode24/08/2010 → …

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