As a nonlinear system analysis method different from the Lyapunov theory,contraction theory is developed mainly based on the differential geometry and fluid dynamics,providing novel aspects and tools for the system control.In this paper,we introduce some basics of the contraction theory,including the combinations of contracting systems,partial contraction theory and control contraction metrics.Then we review some applications of the contraction theory,such as analyzing system stability,tracking control,cooperative control,state estimation and learning control.The prospect of the future development trend of the contraction theory is presented finally.
关键词
非线性系统/收缩理论/控制收缩度量/跟踪控制/协同控制/状态估计/学习控制
Key words
nonlinear system/contraction theory/control contraction metrics/tracking control/cooperative control/state estimation/learning control
维普
万方数据