On the use of contraction theory for the design of nonlinear observers for ocean vehicles

Jerome Jouffroy, Jacques Lottin

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are veri ed when using design tools based on new concepts of stability may be of signicant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is rst given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.
OriginalsprogEngelsk
Publikationsdato2002
StatusUdgivet - 2002
BegivenhedAmerican Control Conference (ACC'02) - Anchorage, Alaska, USA
Varighed: 24. aug. 2010 → …

Konference

KonferenceAmerican Control Conference (ACC'02)
LandUSA
ByAnchorage, Alaska
Periode24/08/2010 → …

Fingeraftryk

Asymptotic stability
Ships

Citer dette

Jouffroy, J., & Lottin, J. (2002). On the use of contraction theory for the design of nonlinear observers for ocean vehicles. Afhandling præsenteret på American Control Conference (ACC'02), Anchorage, Alaska, USA.
Jouffroy, Jerome ; Lottin, Jacques. / On the use of contraction theory for the design of nonlinear observers for ocean vehicles. Afhandling præsenteret på American Control Conference (ACC'02), Anchorage, Alaska, USA.
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Jouffroy, J & Lottin, J 2002, 'On the use of contraction theory for the design of nonlinear observers for ocean vehicles' Paper fremlagt ved American Control Conference (ACC'02), Anchorage, Alaska, USA, 24/08/2010, .

On the use of contraction theory for the design of nonlinear observers for ocean vehicles. / Jouffroy, Jerome; Lottin, Jacques.

2002. Afhandling præsenteret på American Control Conference (ACC'02), Anchorage, Alaska, USA.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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AU - Lottin, Jacques

PY - 2002

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AB - Guaranteeing that traditional concepts of stability like uniform global exponential or asymptotic stability (UGES or UGAS) are veri ed when using design tools based on new concepts of stability may be of signicant importance. It is especially so when attempting to bridge the gap between theory and practice. This paper addresses the question of the applicability of contraction theory to the design of UGES observers for ocean vehicles. A relation between the concept of exponential convergence of a contracting system and uniform global exponential stability (UGES) is rst given. Then two contraction-based GES observers, respectively for unmanned underwater vehicles (UUV) and a class of ships, are constructed, and simulation results are provided.

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Jouffroy J, Lottin J. On the use of contraction theory for the design of nonlinear observers for ocean vehicles. 2002. Afhandling præsenteret på American Control Conference (ACC'02), Anchorage, Alaska, USA.