嵌套下三角结构的非线性系统的鲁棒无源性.pdfVIP

backstepping backstepping Lyapunov KYP KYP backstepping I ABSTRACT In this paper, an extended robust passive backstepping design procedure is proposed for a class of multi-input nested lower triangular nonlinear systems with uncertainties. That is, a feedback control law can be constructed to ensure the internal stability and passivity of the corresponding closed-loop system. The feedback equivalence between the considered systems and passive systems is established by using backstepping technique recursively. The sufficient condition for the systems to be robust passive is achieved with the aid of Lyapunov stability theory and robust KYP lemma. The results will be summarized as follows: (1) The development, background and research technique of passivity of nonlinear systems are introduced. We introduce some basic concepts and the results of the affine nonlinear system, the robust passive and robust KYP lemma of nonlinear system with uncertainties. (2) The passivity of a cla