Passivity-based nonlinear control strategies for strict feedback form systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a tracking algorithm for the control of nonlinear dynamic systems represented in Strict Feedback Form. The construction of the stabilizing algorithm is given using Passivity-based arguments which result in a Passivity-Based Controller (PBC). Also shown are simulations demonstrating the performance of the suggested approach. This paper also shows a direct comparison with the most popular control strategy for Strict Feedback Form Systems: Integrator Backstepping. It is shown that although Integrator Backstepping has several advantages, most notably flexibility in designing output feedback and adaptive approaches, there do exist important situations that favor the PBC. When the model structure is poorly known, the PBC contains diagnostic effects allowing it to systematically pinpoint parts of the model containing inaccuracies. Moreover, the PBC can be simpler to implement than the Backstepping algorithms in the non-adaptive, state feedback case.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
PublisherASME
Pages133-139
Number of pages7
ISBN (Print)0791816346
StatePublished - Dec 1 1999
EventDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) - Nashville, TN, USA
Duration: Nov 14 1999Nov 19 1999

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Volume67

Other

OtherDynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition)
CityNashville, TN, USA
Period11/14/9911/19/99

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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