Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 13 of 13 for “"Contraction Analysis"”.
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Contraction analysis of nonlinear systems
… thesis derives new results in nonlinear system analysis using methods inspired from fluid mechanics and differential geometry. Based on a differential analysis of convergence, these results may be viewed as generalizing the classical Krasovskii theorem, as well as linear eigenvalue analysis. A …
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Discrete-time Contraction Analysis and Controller Design for Nonlinear Processes
… to achieve time-varying setpoints tracking using contraction theory. Through the differential dynamic system framework, the contraction conditions for discrete-time systems, which ensure the exponential convergence between system responses and feasible time-varying references, are derived. The …
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Robust stability and contraction analysis of nonlinear systems via semidefinite optimization
A wide variety of stability and performance problems for linear and certain classes of nonlinear dynamical systems can be formulated as convex optimization problems involving linear matrix inequalities (LMIs). These formulations can be solved numerically with computationally-effcient interior-point …
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Contraction Analysis of Functional Competitive Lotka-Volterra Systems: Understanding Competition Between Modified Bacteria and Plasmodium within Mosquitoes.
… (FCLV) model. We mainly use the construction of contraction metrics, to determine global properties of the model. We use this result to analyze the competition between Plasmodium sp. and genetically engineered bacteria within the midgut of a mosquito. We find that the effect of the immune …
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Nonlinear contraction tools for constrained optimization
This thesis derives new results linking nonlinear contraction analysis, a recent stability theory for nonlinear systems, and constrained optimization theory. Although dynamic systems and optimization are both areas that have been extensively studied [21], few results have been achieved in this …
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Contraction and partial contraction : a study of synchronization in nonlinear networks
… We derives a body of new results, based on contraction and partial contraction analysis. Contraction is a property regarding the convergence between two arbitrary system trajectories. A nonlinear dynamic system is called contracting if initial conditions or temporary disturbances are …
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Autonomous stair climbing
… including evolved architectures and use of contraction analysis are explored. Code was written and tested for functionality with basic test software. The functionality of parts of the system and control architecture was tested on the robot in a simulated operational environment.
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Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft
… of multiple dynamical systems using contraction theory, with applications to cooperative control of multi-agent systems and synchronization of interconnected dynamics such as tethered formation flight. Inspired by stable combinations of biological systems, contraction nonlinear …
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Resource competition in CRISPR-mediated gene regulation
… that are affected by resource competition via contraction analysis. Finally, we perform a combined analytical and experimental study on a two gRNA parallel network to demonstrate the resource competition effect.
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Analytical SLAM without linearization
… rates of the algorithm are established using contraction analysis. Different combinations of sensor information can be exploited, such as bearing measurements, range measurements, optical flow, or time-to-contact. As illustrated in simulations, the proposed algorithm can solve SLAM problems in …
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Path planning and position control and of an underactued [sic] electromagnetic formation flight satellite system in the near field
… Some theoretical guarantees are derived from contraction analysis. Finally time and energy optimal paths for a series of maneuvers are conceived by application of the GPOPS - II numerical optimization software. The results show further that the underactuated system is capable of arbitrary …
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Vision based estimation, localization, and mapping for autonomous vehicles
… First, we derive a nonlinear observer with contraction analysis and pseudo-measurements of the depth of each landmark to prevent the map estimator from diverging. Of particular interest for this work is ensuring that the estimator for localization and mapping will not fail due to the …
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Robust stability assessment for future power systems
… domain of a post-fault equilibrium based on contraction analysis. In particular, I construct a contraction region where the initial conditions are "forgotten", i.e., all trajectories starting from inside this region will exponentially converge to each other. An attraction basin is constructed …