DOI

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).

Язык оригиналаанглийский
Страницы (с-по)73-84
Число страниц12
ЖурналSystems and Control Letters
Том28
Номер выпуска2
DOI
СостояниеОпубликовано - 24 июн 1996

    Предметные области Scopus

  • Системотехника
  • Компьютерные науки (все)
  • Общее машиностроение
  • Электротехника и электроника

ID: 91882499