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

Jerome Jouffroy, Thor I. Fossen

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

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.
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)
CountryBahamas
CityAtlantis, Paradise Island
Period24/08/2010 → …

Fingerprint

Asymptotic stability
Feedback
Controllers
Feedback control
Control systems

Cite this

Jouffroy, J., & Fossen, T. I. (2004). On the combination of nonlinear contracting observers and UGES controllers for output feedback. Paper presented at 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. Paper presented at Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.
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Jouffroy, J & Fossen, TI 2004, 'On the combination of nonlinear contracting observers and UGES controllers for output feedback', Paper presented at 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. Paper presented at Conference on Decision and Control (CDC'04), Atlantis, Paradise Island, Bahamas.

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

TY - CONF

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

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

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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

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