Related papers: k-Contraction: Theory and Applications
The flow of contracting systems contracts 1-dimensional parallelotopes, i.e., line segments, at an exponential rate. One reason for the usefulness of contracting systems is that many interconnections of contracting sub-systems yield an…
Contraction theory is a mathematical framework for studying the convergence, robustness, and modularity properties of dynamical systems and algorithms. In this opinion paper, we provide five main opinions on the virtues of contraction…
Contraction theory for dynamical systems on Euclidean spaces is well-established. For contractive (resp. semi-contractive) systems, the distance (resp. semi-distance) between any two trajectories decreases exponentially fast. For partially…
In this paper we extend to a generic class of piecewise smooth dynamical systems a fundamental tool for the analysis of convergence of smooth dynamical systems: contraction theory. We focus on switched systems satisfying Caratheodory…
Contraction theory is a powerful tool for proving asymptotic properties of nonlinear dynamical systems including convergence to an attractor and entrainment to a periodic excitation. We consider three generalizations of contraction with…
Recently, the concept of k-contraction has been introduced as a promising generalization of contraction for dynamical systems. However, the study of k-contraction properties has faced significant challenges due to the reliance on complex…
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…
A typical system of k difference (or differential) equations can be compressed, or folded into a difference (or ordinary differential) equation of order k. Such foldings appear in control theory as the canonical forms of the controllability…
A geometric generalization of contraction theory called~$k$-contraction was recently developed using $k$-compound matrices. In this note, we focus on the relations between $k$-contraction and two other generalized contraction frameworks:…
Contraction theory is a recently developed dynamic analysis and nonlinear control system design tool based on an exact differential analysis of convergence. This paper extends contraction theory to local and global stability analysis of…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
The flow of contracting systems contracts 1-dimensional polygons (i.e. lines) at an exponential rate. One reason for the usefulness of contracting systems is that many interconnections of contracting sub-systems yield an overall contracting…
A Lurie system is the interconnection of a linear time-invariant system and a nonlinear feedback function. We derive a new sufficient condition for $k$-contraction of a Lurie system. For $k=1$, our sufficient condition reduces to the…
We consider a Lurie system obtained via a connection of a linear time-invariant system and a nonlinear feedback function. Such systems often have more than a single equilibrium and are thus not contractive with respect to any norm. We…
This paper studies the contraction properties of nonlinear differential-algebraic equation (DAE) systems. Specifically we develop scalable techniques for constructing the attraction regions associated with a particular stable equilibrium,…
Strongly contracting dynamical systems have numerous properties (e.g., incremental ISS), find widespread applications (e.g., in controls and learning), and their study is receiving increasing attention. This work starts with the simple…
Contraction analysis considers the distance between two adjacent trajectories. If this distance is contracting, then trajectories have the same long-term behavior. The main advantage of this analysis is that it is independent of the…
Motivated by the grid search method and Bayesian optimization, we introduce the concept of contractibility and its applications in model-based optimization. First, a basic framework of contraction methods is established to construct a…
We introduce three forms of generalized contraction (GC). Roughly speaking, these are motivated by allowing contraction to take place after small transients in time and/or amplitude. Indeed, contraction is usually used to prove asymptotic…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…