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

Jerome Jouffroy, Jacques Lottin

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

Abstract

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.
Original languageEnglish
Publication date2002
Publication statusPublished - 2002
EventAmerican Control Conference (ACC'02) - Anchorage, Alaska, United States
Duration: 24. Aug 2010 → …

Conference

ConferenceAmerican Control Conference (ACC'02)
Country/TerritoryUnited States
CityAnchorage, Alaska
Period24/08/2010 → …

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