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arXiv · 1406.1256

Output-Feedback Control of Nonlinear Systems using Control Contraction Metrics and Convex Optimization

Ian R. Manchester·Jean-Jacques E. Slotine
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Abstract

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.

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Ian R. Manchester, Jean-Jacques E. Slotine. 2014-06-05. Output-Feedback Control of Nonlinear Systems using Control Contraction Metrics and Convex Optimization. https://arxiv.org/abs/1406.1256

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