Stabilization of closed sets for passive systems, part II: Passivity-based control

— In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback makes the set stable, semiattractive, or semi-asymptotically stable for the closed-loop system. Our results rely on novel reduction principles, presented in Part I of this work. As an application of the theory, we present a coordination problem for two unicycles.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Mohamed I. El-Hawwary, Manfredi Maggiore
• Keywords: CDC 2008, Closed Invariant Sets, Closed-loop System, Control Systems, Present Conditions