On passivity and simple adaptive control of nonlinear manipulators

What is it about?

Passivity - also called Positive Realness in Linear Time-Invariant (LTI) systems - appears as a desired property of systems, needed for realizability of networks, optimality of control systems and stability of nonlinear or adaptive controllers. Unfortunately, this property does not seem to be very common among real-world plants. Recently, has been shown that basic stabilizability properties of LTI systems and parallel feedforward can be used to implement passive configurations. Extension of passivity to a class of nonlinear systems linear in control and its application to robust adaptive control of robots are the topics of this paper.

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