2012/06/07 by J. Soto, Soto, Jonathan, Slotine, Jean-Jacques E.
Engineering · Mathematics · #Advanced Control Systems Optimization #Control and Stability of Dynamical Systems #FOS: Physical sciences #Mathematical Physics (math-ph) #Numerical methods for differential equations
paper · pdf · doi:10.48550/arxiv.1206.1838
openalex publication_date 2012/06/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper describes new results linking constrained optimization theory and nonlinear contraction analysis. Generalizations of Lagrange parameters are derived based on projecting system dynamics on the tangent space of possibly time-varying constraints. The paper formalizes the intuition that, just as convexity rather than linearity is the key property in optimization, contraction rather than linearity is the key dynamical property in this context.