TY - JOUR
T1 - Krasovskii and Shifted Passivity-Based Control
AU - Kawano, Yu
AU - Kosaraju, Krishna Chaitanya
AU - Scherpen, Jacquelien M.A.
N1 - Funding Information:
Manuscript received September 27, 2020; accepted November 21, 2020. Date of publication November 24, 2020; date of current version September 27, 2021. The work of Yu Kawano was supported by JSPS KAKENHI under Grant JP19K23517. The work of Krishna Chaitanya Kosaraju and Jacquelien M. A. Scherpen was supported by the Netherlands Organisation for Scientific Research through Research Programme ENBARK+ under Project 408.urs+.16.005. This paper was presented in part at the 11th IFAC Symposium on Nonlinear Control Systems, Vienna, Austria, September 2019. Recommended by Associate Editor C. M. Kellett. (Corresponding author: Yu Kawano.) Yu Kawano is with the Graduate School of Advanced Science and Engineering, Hiroshima University, Higashihiroshima 739-8511, Japan (e-mail: [email protected]).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/10
Y1 - 2021/10
N2 - In this article, our objective is to develop novel passivity-based control techniques by introducing a new passivity concept named Krasovskii passivity. As a preliminary step, we investigate the properties of Krasovskii passive systems and establish relations among four relevant passivity concepts including Krasovskii passivity. Then, we develop novel dynamic controllers based on Krasovskii passivity and based on shifted passivity.
AB - In this article, our objective is to develop novel passivity-based control techniques by introducing a new passivity concept named Krasovskii passivity. As a preliminary step, we investigate the properties of Krasovskii passive systems and establish relations among four relevant passivity concepts including Krasovskii passivity. Then, we develop novel dynamic controllers based on Krasovskii passivity and based on shifted passivity.
KW - Contraction analysis
KW - nonlinear systems
KW - passivity
KW - passivity-based control (PBC)
UR - http://www.scopus.com/inward/record.url?scp=85095095617&partnerID=8YFLogxK
U2 - 10.1109/TAC.2020.3040252
DO - 10.1109/TAC.2020.3040252
M3 - Article
AN - SCOPUS:85095095617
SN - 0018-9286
VL - 66
SP - 4926
EP - 4932
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 10
ER -