A passification approach to adaptive nonlinear stabilization

Zhong Ping Jiang, David J. Hill, Alexander L. Fradkov

Research output: Contribution to journalArticlepeer-review

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 Krstić et al. (1992).

Original languageEnglish (US)
Pages (from-to)73-84
Number of pages12
JournalSystems and Control Letters
Volume28
Issue number2
DOIs
StatePublished - Jun 24 1996

Keywords

  • Adaptive stabilization
  • Feedback passivity
  • Nonlinear control
  • Passive systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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