# Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics

arXiv: https://arxiv.org/abs/2104.04917 · HTML: https://mlsanity.com/paper/2104.04917/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Apr 2021.

## Built on by (most cited first, 1 of 1)

- [Youla-REN: Learning Nonlinear Feedback Policies with Robust Stability Guarantees](https://mlsanity.com/paper/2112.01253/) (2021)

## Abstract (arXiv)

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and L2-gain performance on nonlinear systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared to standard LPV control methods.