Adaptive Passivity Control of A Class of Multi-Variable Nonlinear Systems With Unknown Parameters

A sort of adaptive feedback control laws, containing time-variable coefficients, is designed for a class of n-dimension nonlinear systems with m inputs, m outputs and unknown parameters. Under this sort of adaptive control laws, the original systems can be equivalently transformed into passive ones. Some stability problems of the closed-loop systems are also discussed in this paper. A numerical example is given to illustrate the theoretical results and the simulation results verify the effectiveness and the correctness of the presented control law.