Methodological remarks on contraction theory

Jerome Jouffroy, Jean-Jacques E. Slotine

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

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.
Original languageEnglish
Publication date2004
Publication statusPublished - 2004
EventConference on Decision and Control (CDC'04) - Atlantis, Paradise Island, Bahamas
Duration: 24. Aug 2010 → …

Conference

ConferenceConference on Decision and Control (CDC'04)
Country/TerritoryBahamas
CityAtlantis, Paradise Island
Period24/08/2010 → …

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