Research output: Contribution to journal › Article › peer-review
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 language | English |
---|---|
Pages (from-to) | 73-84 |
Number of pages | 12 |
Journal | Systems and Control Letters |
Volume | 28 |
Issue number | 2 |
DOIs | |
State | Published - 24 Jun 1996 |
ID: 91882499