Immersion and invariance stabilization of nonlinear systems: a horizontal contraction approach,

L. Wang F. Forni Roméo Ortega 1 H. Su
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal dynamics contains a copy of the desired system behaviour. Towards this end we invoke contraction theory principles and ensure the attractivity of the manifold rendering it horizontally contractive. The main advantage of adopting this alternative approach is to make more systematic the last step of the design with more explicit degrees of freedom to accomplish the task. The classical case of systems in feedback form is used to illustrate the proposed controller design
Document type :
Conference papers
Complete list of metadatas
https://hal-centralesupelec.archives-ouvertes.fr/hal-01262391
Contributor : Myriam Baverel <>
Submitted on : Tuesday, January 26, 2016 - 4:23:04 PM
Last modification on : Thursday, September 27, 2018 - 2:30:03 PM

Links full text

openaccess

Identifiers

Collections

L2S | SUP_LSS | SUP_SYSTEMES | CENTRALESUPELEC | TDS-MACS | UNIV-PARIS-SACLAY

Citation

L. Wang, F. Forni, Roméo Ortega, H. Su. Immersion and invariance stabilization of nonlinear systems: a horizontal contraction approach,. 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. ⟨10.1109/cdc.2015.7402684 ⟩. ⟨hal-01262391⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

199

Contact

CCSD