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JRM Vol.28 No.6 pp. 837-841
doi: 10.20965/jrm.2016.p0837
(2016)

Paper:

Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems

Ni Bu* and Mingcong Deng**

*College of Automation and Electronic Engineering, Qingdao University of Science and Technology
53 Zhengzhou Road, Qingdao, China

**Graduate School of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan

Received:
April 17, 2016
Accepted:
August 28, 2016
Published:
December 20, 2016
Keywords:
passivity-based control, robust right coprime factorization, isomorphism, uncertainty
Abstract

Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems

The asymptotic tracking performance and the passivity property

The tracking control problem for the uncertain nonlinear feedback systems is considered in this paper by using passivity-based robust right coprime factorization method. Concerned with the passivity for the nonlinear feedback system, two stable controllers are designed such that the nonlinear feedback system is robust stable and the plant output asymptotically tracks to the reference output. A numerical example is given to show the validity of the control scheme as well as the tracking performance.

Cite this article as:
N. Bu and M. Deng, “Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems,” J. Robot. Mechatron., Vol.28, No.6, pp. 837-841, 2016.
Data files:
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Last updated on Nov. 20, 2018