Nonlinear Eigenvalue Approach to Differential Riccati Equations for Contraction Analysis

DOI10.1109/TAC.2017.2655443MaRDI QIDQ4567008zbMATH OpenOpenAlexFDO

Authors Yu Kawano, T. Ohtsuka

Publication date 27 June 2018

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

Full work available at URL https://arxiv.org/abs/1607.05780

Mathematics Subject Classification ID

Eigenvalue problems (93B60) Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15)

Abstract: In this paper, we extend the eigenvalue method of the algebraic Riccati equation to the differential Riccati equation (DRE) in contraction analysis. One of the main results is showing that solutions to the DRE can be expressed as functions of nonlinear eigenvectors of the differential Hamiltonian matrix. Moreover, under an assumption for the differential Hamiltonian matrix, real symmetricity, regularity, and positive semidefiniteness of solutions are characterized by nonlinear eigenvalues and eigenvectors.

Cited in

(5)

• Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework
• PBH tests for nonlinear systems
• Controlled invariant distributions and differential properties
• An LMI framework for contraction-based nonlinear control design by derivatives of Gaussian process regression
• On computation of eigenvalues and eigenvectors of nonlinear control systems

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