TY - JOUR
T1 - Robust trajectory tracking for incrementally passive nonlinear systems
AU - Wu, Chengshuai
AU - van der Schaft, Arjan
AU - Chen, Jian
N1 - Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2019/9
Y1 - 2019/9
N2 - 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.
AB - 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.
KW - Asymptotic stability
KW - Incremental passivity
KW - Port-Hamiltonian systems
KW - Robust control
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85067123740&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2019.05.065
DO - 10.1016/j.automatica.2019.05.065
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AN - SCOPUS:85067123740
SN - 0005-1098
VL - 107
SP - 595
EP - 599
JO - Automatica
JF - Automatica
ER -