Adaptive Passification of Unknown Input-Affine Nonlinear Systems

Abstract

In this letter, we present an adaptive passification framework for unknown input-affine nonlinear systems. In the present framework, a reference system is designed so that the deviation between the reference system and an unknown nominal system is minimized, while ensuring some classes of passivity properties. Based on the passive reference system, we present an adaptive control method that drives the nominal system to the reference system. The performance of the present framework was demonstrated through numerical experiments.