Article ID Journal Published Year Pages File Type
5005508 ISA Transactions 2006 11 Pages PDF
Abstract
A new cascade passivity-based control scheme for tracking purposes is proposed in this paper. The proposed scheme is valid for a certain class of nonlinear systems even with unstable zero dynamic, and it is also useful for regulation and stabilization purposes. The cases where all system parameters are assumed to be known (nonadaptive case) and also the case when they are unknown (adaptive case) are considered. Some simulation examples are studied to analyze the behavior of the proposed scheme.
Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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