Adaptive feedback passivity of nonlinear systems with sliding mode

MaRDI QIDQ4782176zbMATH OpenFDO

Authors Ali J. Koshkouei, A. S. I. Zinober

Publication date 10 June 2003

zbMATH Keywords

adaptive controlfeedbackpassivitysliding mode controlzero dynamics

Mathematics Subject Classification ID

Variable structure systems (93B12) Feedback control (93B52) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40)

Review text

The authors present two feedback construction methods for the control of affine systems. The first method is a feedback transformation which transforms the given system into a passive system. The second construction is a sliding mode controller that controls a passive system to a sliding surface, which may be defined by the the zero dynamics but can also be more general. A special version for linear systems and an adaptive control version are also discussed. Two examples illustrate the performance of the methods by means of numerical simulations. For the entire collection see [Zbl 0996.00057].

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Cited in

(4)

• Direct passivity of a class of MIMO non-linear systems using adaptive feedback
• Passivity-based sliding mode control for nonlinear systems
• On Passive Implementation of Feedback Control Systems
• A general canonical form for feedback passivity of nonlinear systems

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