15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
INTEGRATOR BACKSTEPPING USING CONTRACTION THEORY: A BRIEF METHODOLOGICAL NOTE.
Jórôme Jouffryo Jacques Lottin
LAMII/CESALP - Université de Savoie
BP 806
74 016 Anne cy Cedex, FRANCE
{jouffroy,lottin}@univ-savoie.fr

While the use of Lyapunov function candidates of integrator backstepping has been extensively studied in the litterature, little research has been conducted regarding the applicability of the so-called incremental stability approaches. This note addresses the problem of the use of an incremental approach, contraction theory, to the integrator backstepping design on the methodological aspect. After briefly recalling basic results from contraction theory, a full contraction-based integrator backstepping procedure is presented. An example is given to illustrate the approach.
Keywords: Backstepping, Stability, Nonlinear Systems, Contraction Theory
Session slot T-We-A21: Posters of Nonlinear Systems/Area code 2c : Non-linear Systems