Nonlinear Stabilization via Control Contraction Metrics: a Pseudospectral Approach for Computing Geodesics release_nb32lhrcojcinps2aefaavzsqu

by Karen Leung, Ian R. Manchester

Released as a article .

2016  

Abstract

Real-time nonlinear stabilization techniques are often limited by inefficient or intractable online and/or offline computations, or a lack guarantee for global stability. In this paper, we explore the use of Control Contraction Metrics (CCM) for nonlinear stabilization because it offers tractable offline computations that give formal guarantees for global stability. We provide a method to solve the associated online computation for a CCM controller - a pseudospectral method to find a geodesic. Through a case study of a stiff nonlinear system, we highlight two key benefits: (i) using CCM for nonlinear stabilization and (ii) rapid online computations amenable to real-time implementation. We compare the performance of a CCM controller with other popular feedback control techniques, namely the Linear Quadratic Regulator (LQR) and Nonlinear Model Predictive Control (NMPC). We show that a CCM controller using a pseudospectral approach for online computations is a middle ground between the simplicity of LQR and stability guarantees for NMPC.
In text/plain format

Archived Files and Locations

application/pdf  244.6 kB
file_3bvgx66xfbhptk6zbfgr5tfn7e
arxiv.org (repository)
web.archive.org (webarchive)
Read Archived PDF
Preserved and Accessible
Type  article
Stage   submitted
Date   2016-07-14
Version   v1
Language   en ?
arXiv  1607.04340v1
Work Entity
access all versions, variants, and formats of this works (eg, pre-prints)
Catalog Record
Revision: 2a945a73-9299-4155-8c22-17c35820e7cd
API URL: JSON