TY - GEN
T1 - Passivity-Based Nonlinear Control Strategies for Strict Feedback Form Systems
AU - Alleyne, Andrew
N1 - Publisher Copyright:
© 1999 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 1999
Y1 - 1999
N2 - 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 Passivitybased 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.
AB - 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 Passivitybased 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.
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U2 - 10.1115/IMECE1999-0018
DO - 10.1115/IMECE1999-0018
M3 - Conference contribution
AN - SCOPUS:85122615822
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 133
EP - 139
BT - Dynamic Systems and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999
Y2 - 14 November 1999 through 19 November 1999
ER -