1 The Mads Clausen Institute, Faculty of Engineering, SDU2 Faculty of Engineering, SDU3 Mechatronics Group, The Mads Clausen Institute, Faculty of Engineering, SDU4 Universite de Savoie5 The Mads Clausen Institute, Faculty of Engineering, SDU
For original paper see T.I.Fossen and M.Blanke, ibid., vol.25, pp.241-55 (2000). In the work presented by Fossen and Blanke, a nonlinear observer for estimation of propeller axial flow velocity for UUVs was introduced. The proof of the convergence behavior of the observer was carried out with a Lyapunov analysis. In this technical communication, such an analysis was also briefly compared with the so-called contraction analysis. This communication goes further into the details of the comparison by proving - through a link between contracting and globally exponentially stable (GES) systems - that the observer is both contracting and GES, showing thus that contraction analysis might be regarded as an interesting alternative to Lyapunov-based designs. Furthermore, some qualitative advantages gained when using contraction analysis are given.
Ieee Journal of Oceanic Engineering, 2002, Vol 27, Issue 4, p. 873-875