Continuous-time Dynamic Realization for Nonlinear Stabilization via Control Contraction Metrics
Systems and Control
2019-10-01 v1 Systems and Control
Optimization and Control
Abstract
Nonlinear stabilization using control contraction metric (CCM) method usually involves an online optimization problem to compute a minimal geodesic (a shortest path) between pair of states, which is not desirable for real-time applications. This paper introduces a continuous-time dynamic realization which distributes the computational cost of the optimization problem over the time domain. The basic idea is to force the internal state of the dynamic controller to converge to a geodesic using covariant derivative information. A numerical example illustrates the proposed approach.
Cite
@article{arxiv.1909.13033,
title = {Continuous-time Dynamic Realization for Nonlinear Stabilization via Control Contraction Metrics},
author = {Ruigang Wang and Ian R. Manchester},
journal= {arXiv preprint arXiv:1909.13033},
year = {2019}
}
Comments
submitted to ACC2020