Nonlinear Stabilization via Control Contraction Metrics: a Pseudospectral Approach for Computing Geodesics
For control engineers needing real-time nonlinear stabilization with global stability guarantees, this work provides a computationally efficient online method for CCM-based controllers.
The paper proposes a pseudospectral method for computing geodesics in Control Contraction Metrics (CCM) for real-time nonlinear stabilization, demonstrating through a stiff nonlinear system that it offers a middle ground between LQR simplicity and NMPC stability guarantees with rapid online computations.
Real-time nonlinear stabilization techniques are often limited by inefficient or intractable online and/or offline computations, or a lack guarantee for global stability. In this paper, we explore the use of Control Contraction Metrics (CCM) for nonlinear stabilization because it offers tractable offline computations that give formal guarantees for global stability. We provide a method to solve the associated online computation for a CCM controller - a pseudospectral method to find a geodesic. Through a case study of a stiff nonlinear system, we highlight two key benefits: (i) using CCM for nonlinear stabilization and (ii) rapid online computations amenable to real-time implementation. We compare the performance of a CCM controller with other popular feedback control techniques, namely the Linear Quadratic Regulator (LQR) and Nonlinear Model Predictive Control (NMPC). We show that a CCM controller using a pseudospectral approach for online computations is a middle ground between the simplicity of LQR and stability guarantees for NMPC.