CUED Publications database

Immersion and Invariance Stabilization of Nonlinear Systems via Virtual and Horizontal Contraction

Wang, L and Forni, F and Ortega, R and Liu, Z and Su, H Immersion and Invariance Stabilization of Nonlinear Systems via Virtual and Horizontal Contraction. IEEE Transactions on Automatic Control. (Unpublished)

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Abstract

The main objective of this paper is to revisit one of the key steps of immersion and invariance stabilizing controller design. Namely, the one that ensures attractivity of the manifold whose internal dynamics contains a copy of the desired system behavior. Towards this end we invoke contraction theory principles and propose two alternative procedures to carry out this step: (i) to replace attractivity of the manifold by virtual contraction of the off–the– manifold coordinate and (ii) to ensure the attractivity of the manifold rendering it horizontally contractive. This makes more systematic the design with more explicit degrees of freedom to accomplish the task. Several examples, including the classical case of systems in feedback form, are used to illustrate the proposed design.

Item Type: Article
Uncontrolled Keywords: manifolds trajectory systematics rendering (computer graphics) convergence mathematical model
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 20:09
Last Modified: 12 Oct 2017 01:46
DOI: