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

Accepted version
Peer-reviewed

Type

Article

Change log

Authors

Wang, L 
Ortega, R 
Liu, Z 
Su, H 

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.

Description

Keywords

Nonlinear control, stability, stabilization

Journal Title

IEEE Transactions on Automatic Control

Conference Name

Journal ISSN

0018-9286
1558-2523

Volume Title

62

Publisher

Institute of Electrical and Electronics Engineers (IEEE)
Sponsorship
This work is partially supported by National Basic Research Program of China (973 Program 2013CB035406); National Natural Science Foundation of China (NSFC: 61134007, 61223004, 61433013).