Robust trajectory tracking for incrementally passive nonlinear systems

Chengshuai Wu, Arjan van der Schaft, Jian Chen*

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

3 Citations (Scopus)

Abstract

In this paper, we study the robust trajectory tracking problem for a class of nonlinear systems with incremental passivity. The velocity of the desired trajectory and parts of the model information are unknown apart from boundedness assumptions. A velocity observer based method and a sliding mode controller are proposed while the asymptotic tracking result is guaranteed by a zero-state detectability condition for both cases. Unlike previous results, the studied systems are not necessarily feedback linearizable nor in a strict feedback form. The ball and beam system is utilized to illustrate the implementation of the proposed tracking control laws. (C) 2019 Elsevier Ltd. All rights reserved.

Original languageEnglish
Pages (from-to)595-599
Number of pages5
JournalAutomatica
Volume107
DOIs
Publication statusPublished - Sep-2019

Keywords

  • Incremental passivity
  • Trajectory tracking
  • Robust control
  • Port-Hamiltonian systems
  • Asymptotic stability
  • SLIDING-MODE CONTROL
  • ROBOT
  • MANIPULATORS
  • BALL

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