Robust trajectory tracking for incrementally passive nonlinear systems

• Autores: Chengshuai Wu, Arjan van der Schaft, Jian Chen
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 107, 2019, págs. 595-599
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • 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.