Output-feedback control of nonlinear systems using control contraction metrics and convex optimization
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...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2017
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| Online Access: | http://hdl.handle.net/1721.1/109342 https://orcid.org/0000-0002-7161-7812 |
| _version_ | 1811073434206076928 |
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| author | Manchester, Ian Slotine, Jean-Jacques E |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Manchester, Ian Slotine, Jean-Jacques E |
| author_sort | Manchester, Ian |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T09:33:06Z |
| format | Article |
| id | mit-1721.1/109342 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:33:06Z |
| publishDate | 2017 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/1093422022-09-30T15:15:01Z Output-feedback control of nonlinear systems using control contraction metrics and convex optimization Manchester, Ian Slotine, Jean-Jacques E 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 Manchester, Ian Slotine, Jean-Jacques E 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. 2017-05-25T16:13:15Z 2017-05-25T16:13:15Z 2014-11 Article http://purl.org/eprint/type/ConferencePaper 978-1-9221-0739-8 http://hdl.handle.net/1721.1/109342 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). https://orcid.org/0000-0002-7161-7812 en_US http://dx.doi.org/10.1109/AUCC.2014.7358692 2014 4th Australian Control Conference (AUCC) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers arXiv |
| spellingShingle | Manchester, Ian Slotine, Jean-Jacques E Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title | Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title_full | Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title_fullStr | Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title_full_unstemmed | Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title_short | Output-feedback control of nonlinear systems using control contraction metrics and convex optimization |
| title_sort | output feedback control of nonlinear systems using control contraction metrics and convex optimization |
| url | http://hdl.handle.net/1721.1/109342 https://orcid.org/0000-0002-7161-7812 |
| work_keys_str_mv | AT manchesterian outputfeedbackcontrolofnonlinearsystemsusingcontrolcontractionmetricsandconvexoptimization AT slotinejeanjacquese outputfeedbackcontrolofnonlinearsystemsusingcontrolcontractionmetricsandconvexoptimization |