Output-feedback control of nonlinear systems using control contraction metrics and convex optimization
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Slotine_Output-feedback control.pdf
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341.48 KB
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Author(s)
Manchester, Ian
Slotine, Jean-Jacques E
Date Issued
November 2014
Journal
2014 4th Australian Control Conference (AUCC)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Manchester, Ian R., and Jean-Jacques E. Slotine. “Output-Feedback Control of Nonlinear Systems Using Control Contraction Metrics and Convex Optimization.” 2014 4th Australian Control Conference (AUCC) (November 2014).
Version
Original manuscript
Abstract
Control contraction metrics (CCMs) are a new approach to nonlinear control design based on contraction theory. The resulting design problems are expressed as pointwise linear matrix inequalities and are and well-suited to solution via convex optimization. In this paper, we extend the theory on CCMs by showing that a pair of “dual” observer and controller problems can be solved using pointwise linear matrix inequalities, and that when a solution exists a separation principle holds. That is, a stabilizing output-feedback controller can be found. The procedure is demonstrated using a benchmark problem of nonlinear control: the Moore-Greitzer jet engine compressor model.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/AUCC.2014.7358692
