Integrator backstepping using contraction theory: a brief technological note

Jerome Jouffroy, Jacques Lottin

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

While the use of Lyapunov function candidates for integrator backstepping has been extensively studied in the literature, little research has been conducted regarding the applicability of the so-called incremental stability approaches. This note addresses the problem of the use of an incremental approach, i.e. contraction theory, to the integrator backstepping design on the methodological aspect. After briefly recalling basic results from contraction theory, a full contraction-based integrator backstepping procedure is presented. An example is given to illustrate the method.
Original languageEnglish
Publication date2002
Publication statusPublished - 2002
Event IFAC World Congress - Barcelona, Spain
Duration: 24. Aug 2010 → …

Conference

Conference IFAC World Congress
CountrySpain
CityBarcelona
Period24/08/2010 → …

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Contraction
Integrator
Incremental
Lyapunov function

Cite this

Jouffroy, J., & Lottin, J. (2002). Integrator backstepping using contraction theory: a brief technological note. Paper presented at  IFAC World Congress, Barcelona, Spain.
Jouffroy, Jerome ; Lottin, Jacques. / Integrator backstepping using contraction theory: a brief technological note. Paper presented at  IFAC World Congress, Barcelona, Spain.
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Jouffroy, J & Lottin, J 2002, 'Integrator backstepping using contraction theory: a brief technological note', Paper presented at  IFAC World Congress, Barcelona, Spain, 24/08/2010.

Integrator backstepping using contraction theory: a brief technological note. / Jouffroy, Jerome; Lottin, Jacques.

2002. Paper presented at  IFAC World Congress, Barcelona, Spain.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

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T1 - Integrator backstepping using contraction theory: a brief technological note

AU - Jouffroy, Jerome

AU - Lottin, Jacques

PY - 2002

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AB - While the use of Lyapunov function candidates for integrator backstepping has been extensively studied in the literature, little research has been conducted regarding the applicability of the so-called incremental stability approaches. This note addresses the problem of the use of an incremental approach, i.e. contraction theory, to the integrator backstepping design on the methodological aspect. After briefly recalling basic results from contraction theory, a full contraction-based integrator backstepping procedure is presented. An example is given to illustrate the method.

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Jouffroy J, Lottin J. Integrator backstepping using contraction theory: a brief technological note. 2002. Paper presented at  IFAC World Congress, Barcelona, Spain.