A passification approach to adaptive nonlinear stabilization |
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Authors: | Zhong-Ping Jiang David J Hill Alexander L Fradkov |
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Affiliation: | aDepartment of Systems Engineering, Australian National University, ACT 0200, Australia;bDepartment of Electrical Engineering, Sydney University, NSW 2006, Australia;cInstitute for Problems of Mechanical Engineering, 61 Bolshoy Avenue, V.O., 199178 St Petersburg, Russia |
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Abstract: | In this paper, we unify and extend previously obtained results on adaptive stabilization of nonlinear systems from a passive systems viewpoint. It is shown that, for an interconnected multi-input nonlinear system composed of a chain of feedback strictly passive subsystems, an adaptive controller can be designed to render the closed loop system passive. Further, adaptive regulation is guaranteed if the zero-dynamics equation of each subsystem satisfies an appropriate input/state property. A systematic use of feedback passification in our proposed adaptive control scheme allows a simpler reinterpretation of the backstepping design with tuning functions in Krsti? et al. (1992). |
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Keywords: | Passive systems Nonlinear control Feedback passivity Adaptive stabilization |
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