Control system design for mechanical systems using contraction theory
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Publication:4507160
DOI10.1109/9.855568zbMath0973.93020arXivmath-ph/0403027MaRDI QIDQ4507160
Winfried Lohmiller, Jean-Jacques E. 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
Lyapunov's second method; fluid dynamics; virtual work; contraction theory; stream lines; \(V\)-functionals; time-delayed channels
93D30: Lyapunov and storage functions
93C23: Control/observation systems governed by functional-differential equations
70Q05: Control of mechanical systems
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