Control Contraction Metrics on Finsler Manifolds
Systems and Control
2018-03-06 v1 Differential Geometry
Optimization and Control
Abstract
Control Contraction Metrics (CCMs) provide a nonlinear controller design involving an offline search for a Riemannian metric and an online search for a shortest path between the current and desired trajectories. In this paper, we generalize CCMs to Finsler geometry, allowing the use of non-Riemannian metrics. We provide open loop and sampled data controllers. The sampled data control construction presented here does not require real time computation of globally shortest paths, simplifying computation.
Cite
@article{arxiv.1803.01034,
title = {Control Contraction Metrics on Finsler Manifolds},
author = {Thomas L. Chaffey and Ian R. Manchester},
journal= {arXiv preprint arXiv:1803.01034},
year = {2018}
}
Comments
accepted to 2018 American Control Conference