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

Jerome Jouffroy, Thor I. Fossen

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

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)
LandBahamas
ByAtlantis, Paradise Island
Periode24/08/2010 → …

Fingeraftryk

Asymptotic stability
Feedback
Controllers
Feedback control
Control systems

Citer dette

Jouffroy, J., & Fossen, T. I. (2004). On the combination of nonlinear contracting observers and UGES controllers for output feedback. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.
Jouffroy, Jerome ; Fossen, Thor I. / On the combination of nonlinear contracting observers and UGES controllers for output feedback. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.
@conference{dea42d503dfb11dda26c000ea68e967b,
title = "On the combination of nonlinear contracting observers and UGES controllers for output feedback",
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.",
author = "Jerome Jouffroy and Fossen, {Thor I.}",
year = "2004",
language = "English",
note = "null ; Conference date: 24-08-2010",

}

Jouffroy, J & Fossen, TI 2004, 'On the combination of nonlinear contracting observers and UGES controllers for output feedback' Paper fremlagt ved Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas, 24/08/2010, .

On the combination of nonlinear contracting observers and UGES controllers for output feedback. / Jouffroy, Jerome; Fossen, Thor I.

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

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

TY - CONF

T1 - On the combination of nonlinear contracting observers and UGES controllers for output feedback

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

M3 - Paper

ER -

Jouffroy J, Fossen TI. On the combination of nonlinear contracting observers and UGES controllers for output feedback. 2004. Afhandling præsenteret på Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.