Control Contraction Metrics on Finsler Manifolds

Thomas L. Chaffey; Ian R. Manchester

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arXiv · 1803.01034

Control Contraction Metrics on Finsler Manifolds

Thomas L. Chaffey·Ian R. Manchester

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Abstract

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 computation.

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BibTeX RIS

Thomas L. Chaffey, Ian R. Manchester. 2018-03-02. Control Contraction Metrics on Finsler Manifolds. https://arxiv.org/abs/1803.01034

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