Transverse exponential stability and applications

Vincent Andrieu, Bayu Jayawardhana, Laurent Praly

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Abstract

We investigate how the following properties are related to each other: i) A manifold is “transversally” exponentially stable; ii) The “transverse” linearization along any solution in the manifold is exponentially stable; iii) There exists a field of positive definite quadratic forms whose restrictions to the directions transversal to the manifold are decreasing along the flow. We illustrate their relevance with the study of exponential incremental stability. Finally, we apply these results to two control design problems, nonlinear observer design and synchronization. In particular, we provide necessary and sufficient conditions for the design of nonlinear observer and of nonlinear synchronizer with exponential convergence property.
Original languageEnglish
Pages (from-to)3396-3411
Number of pages15
JournalIEEE Transactions on Automatic Control
Volume61
Issue number11
DOIs
Publication statusPublished - Nov-2016

Keywords

  • transverse exponential stability
  • incremental stability
  • syncronization

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