Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Regular papers
Passivity-Based Tracking Control for Uncertain Nonlinear Feedback Systems
Ni BuMingcong Deng
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ジャーナル オープンアクセス

2016 年 28 巻 6 号 p. 837-841

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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.

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