Control system design for mechanical systems using contraction theory

DOI10.1109/9.855568MaRDI QIDQ4507160zbMATH OpenOpenAlexFDO

Authors Winfried Lohmiller, Jean-Jacques Slotine

Publication date 17 October 2000

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math-ph/0403027, https://semanticscholar.org/paper/d52859cd726f9f03017c740883453192d9ddfd61

zbMATH Keywords

\(V\)-functionalscontraction theoryfluid dynamicsLyapunov's second methodstream linestime-delayed channelsvirtual work

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control/observation systems governed by functional-differential equations (93C23) Lyapunov and storage functions (93D30)

Abstract: Contraction theory is a recently developed dynamic analysis and nonlinear control system design tool based on an exact differential analysis of convergence. This paper extends contraction theory to local and global stability analysis of important classes of nonlinear distributed dynamics, such as convection-diffusion-reaction processes, Lagrangian and Hamilton-Jacobi dynamics, and optimal controllers and observers. The Hamilton-Jacobi-Bellman controller and a similar optimal nonlinear observer design are studied. Explicit stability conditions are given, which extend the well-known conditions on controllability and observability Grammians for linear time-varying systems. Stability of the Hamilton-Jacobi dynamics is assessed by evaluating the Hessian of the system state along system trajectories. In contrast to stability proofs based on energy dissipation,this principle allows to conclude on stability of energy-based systems that are excited by time-varying inputs. In this context, contraction can be regarded as describing new variational conservation laws and the stability of entropy producing processes.

Review text

The distinctive feature of ``contraction theory consists of a rephrasing of Lyapunov's second method in a `modern' framework with the use of an alternate terminology. The element derived from fluid dynamics relies on the analogy between trajectories and stream lines. It is not mentioned that if the flow ceases to be laminar, the latter encounter singularities (shocks, turbulence, cavitation,\dots) which have no established counterparts in ODE-systems. The notion of ``virtual dynamics is borrowed from the principle of virtual work, without mentioning that in the presence of non-holonomous constraints `virtual displacements' are severely restricted. In the section on time-delayed channels, Krasovsky's treatise is mentioned, but it is not stated that any part of ``contraction theory permits to construct \(V\)-functionals. In short, no evidence is presented that ``contraction theory makes any hitherto unknown factual contributions. Whether any deeper insight into the mechanical systems of Section IV has been established, is up to the specialists of the corresponding technologies to decide.

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Cited in

(25)

• Hidden attractors in a new complex generalised Lorenz hyperchaotic system, its synchronisation using adaptive contraction theory, circuit validation and application
• Stabilized model reduction for nonlinear dynamical systems through a contractivity-preserving framework
• Incremental stability and contraction via impulsive control for continuous-time dynamical systems
• Simplified synchronizability scheme for a class of nonlinear systems connected in chain configuration using contraction
• On contraction in mean square of stochastic difference systems with delays
• A note on the equivalence of a strongly convex function and its induced contractive differential equation
• Contraction analysis for fractional-order nonlinear systems
• Contraction of stochastic differential equations
• Stabilization and tracking controller for a class of nonlinear discrete-time systems
• Robust distributed model predictive control of constrained dynamically decoupled nonlinear systems: a contraction theory perspective
• Contraction theory on Riemannian manifolds
• On partial contraction analysis for coupled nonlinear oscillators
• Discrete nonlinear observers for inertial navigation
• Contraction after small transients
• Stochastic contraction-based observer and controller design algorithm with application to a flight vehicle
• A robot control architecture supported on contraction theory
• Contraction theory based synchronization analysis of impulsively coupled oscillators
• Input-to-state contraction for impulsive systems
• Solving Constraint-Satisfaction Problems with Distributed Neocortical-Like Neuronal Networks
• Contraction-based stabilisation of nonlinear singularly perturbed systems and application to high gain feedback
• On contraction of functional differential equations with Markovian switching
• Quasi Contraction of Stochastic Functional Differential Equations
• Synchronization a chaotic system with quadratic terms using the contraction method
• Global exponential contraction of functional differential equations
• Learning stable Koopman embeddings for identification and control

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