Adaptive Passification of Unknown Input-Affine Nonlinear Systems

被引：0
作者：
Miyano, Tatsuya [1 ]
Shima, Ryotaro [2 ]
Ito, Yuji [1 ]
机构：
[1] Toyota Cent Res & Dev Labs Inc, Dept Appl Math Res, Nagakute 4801192, Japan
[2] Toyota Cent Res & Dev Labs Inc, Dept Green Fuel Res, Nagakute 4801192, Japan
来源：
IEEE CONTROL SYSTEMS LETTERS | 2024年 / 8卷
关键词：
Adaptive control; Stability criteria; Passivation; Optimization; Numerical stability; Indexes; State feedback; Minimally invasive surgery; Indium tin oxide; Closed box; Passification; passivation; adaptive control; unknown input-affine nonlinear systems; CONTROL DESIGN; PASSIVITY; TELEOPERATION; STABILITY;
D O I：
10.1109/LCSYS.2024.3520031
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, we present an adaptive passification framework for unknown input-affine nonlinear systems. In the present framework, a reference system is designed so that the deviation between the reference system and an unknown nominal system is minimized, while ensuring some classes of passivity properties. Based on the passive reference system, we present an adaptive control method that drives the nominal system to the reference system. The performance of the present framework was demonstrated through numerical experiments.
引用
收藏
页码：2979 / 2984
页数：6
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