Passivity-based control for stabilization, regulation and tracking purposes of a class of nonlinear systems

In this paper, a new passivity‐based control (PBC) scheme based on state feedback is proposed in order to solve tracking, regulation and stabilization problems for a class of multi‐input multi‐output (MIMO) nonlinear systems expressed in the normal form, with time‐invariant parameters and locally bo...

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Bibliographic Details
Published in:	International journal of adaptive control and signal processing Vol. 21; no. 7; pp. 582 - 602
Main Authors:	Travieso-Torres, Juan C., Duarte-Mermoud, Manuel A., Sepúleveda, Diego I.
Format:	Journal Article
Language:	English
Published:	Chichester, UK John Wiley & Sons, Ltd 01-09-2007
Subjects:	adaptive nonlinear control adaptive passivity adaptive regulation adaptive stabilization adaptive tracking Control Control systems Dynamical systems Mathematical analysis Nonlinear dynamics passivity-based control Stabilization State feedback Tracking
Online Access:	Get full text
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Summary:	In this paper, a new passivity‐based control (PBC) scheme based on state feedback is proposed in order to solve tracking, regulation and stabilization problems for a class of multi‐input multi‐output (MIMO) nonlinear systems expressed in the normal form, with time‐invariant parameters and locally bounded reference weakly minimum phase. For the proposed control scheme two new different state feedbacks, one non‐adaptive for the case when the system parameters are assumed to be known and the other adaptive for the case of unknown parameters, are developed. For the adaptive case it is assumed that the unknown parameters appear linearly in the equations. Analysis of the transient behaviour of the proposed control schemes is presented through the simulation of two examples. Copyright © 2006 John Wiley & Sons, Ltd.
Bibliography:	CONICYT-CHILE - No. 1030962 ArticleID:ACS946 ark:/67375/WNG-4VDJ1GPJ-6 istex:65969D42C8C244A42DD4C9E39D10382468B93A76 ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	0890-6327 1099-1115
DOI:	10.1002/acs.946