# 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}
}
• Published 2 March 2018
• Mathematics
• 2018 Annual American Control Conference (ACC)
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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