Output-feedback control of nonlinear systems using control contraction metrics and convex optimization
Author(s)Manchester, Ian; Slotine, Jean-Jacques E
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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.
DepartmentMassachusetts 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
2014 4th Australian Control Conference (AUCC)
Institute of Electrical and Electronics Engineers
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).