Open-loop contraction design
Given a non-contracting trajectory of a nonlinear system, we consider the question of designing an input perturbation that makes the perturbed trajectory contracting. This paper stresses the analogy of this question with the classical question of feedback stabilization. In particular, it is shown that the existence of an output variable that ensures contraction of the inverse system facilitates the design of a contracting input perturbation. We illustrate the relevance of this question in parameter estimation.
Code (0)
등록된 구현이 없습니다.
Tasks
parameter estimationSimilar Papers 제목 키워드 기반
Open-loop control design for contraction in affine nonlinear systems
In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to…
Generalized Lyapunov conditions for k-contraction: analysis and feedback design
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 re…
Contraction-Guided Adaptive Partitioning for Reachability Analysis of Neural Network Controlled Systems
In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. …
Verifying Closed-Loop Contractivity of Learning-Based Controllers via Partitioning
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bou…
Statistical Contraction for Chance-Constrained Trajectory Optimization of Non-Gaussian Stochastic Systems
This paper presents novel method for distribution-free robust trajectory optimization and control of discrete-time, nonlinear, and non-Gaussian stochastic systems, with closed-loop guarantees on chance constraint satisfa…
Motion Planning