Control Contraction Metrics on Finsler Manifolds
@article{Chaffey2018ControlCM, title={Control Contraction Metrics on Finsler Manifolds}, author={Thomas Chaffey and Ian R. Manchester}, journal={2018 Annual American Control Conference (ACC)}, year={2018}, pages={3626-3633} }
Control Contraction Metrics (CCMs) provide a nonlinear controller design involving an offline search for a Riemannian metric and an online search for a shortest path between the current and desired trajectories. In this paper, we generalize CCMs to Finsler geometry, allowing the use of non-Riemannian metrics. We provide open loop and sampled data controllers. The sampled data control construction presented here does not require real time computation of globally shortest paths, simplifying…
8 Citations
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