Adaptive Sliding Mode Feedback Passivity of Nonlinear Systems

A.J. Koshkouei and A.S.I. Zinober (UK)


Passivity, Nonlinear systems, Sliding mode control


Passivity of a class of nonlinear systems with unknown parameters and external disturbances is studied in this paper. Passivity is the property that any storage energy in a system is not larger than the energy supplied to it from external sources. An appropriate update law is obtained so that a new transformed system is passive. Sliding mode control is designed to maintain trajectories of the passive system on the sliding hyperplane and eventually to an equilibrium point on this surface.

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