DocumentCode
2241353
Title
Stabilization of closed sets for passive systems, part II: Passivity-based control
Author
El-Hawwary, Mohamed I. ; Maggiore, Manfredi
Author_Institution
Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
3799
Lastpage
3804
Abstract
In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback makes the set stable, semi-attractive, or semi-asymptotically stable for the closed-loop system. Our results rely on novel reduction principles, presented in Part I of this work. As an application of the theory, we present a coordination problem for two unicycles.
Keywords
asymptotic stability; closed loop systems; feedback; nonlinear systems; set theory; asymptotically stable; closed invariant sets stabilization; closed-loop system; passive nonlinear systems; passivity-based control; passivity-based feedback; Control systems; Councils; Feedback; Heart; Instruments; Level set; Nonlinear systems; Open loop systems; State-space methods; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4738824
Filename
4738824
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