Passivity-Based Control

摘要: This chapter is devoted to investigate how the dissipativity properties of various systems examined in foregoing can be used design stable and robust feedback controllers (in continuous discrete time). We start with a classical result mechanics, which actually basis Lyapunov stability functions theory. The interest this that its proof hinges on important analysis tools, allows one make clear connection between next section brief survey passivity-based control methods, topic has been object numerous publications. Then, we go Lagrange–Dirichlet Theorem, state-feedback position-feedback for rigid-joint–rigid-link systems, set-valued fully actuated Lagrangian state output flexible-joint–rigid-link manipulators, without actuators dynamics, constrained systems. Regulation trajectory tracking problems, smooth nonsmooth dynamical are treated. ends presentation observers class differential inclusions represented by Lur’e