Passive Adaptive Control for a Class of MIMO Uncertain Nonlinear Systems

A passive adaptive control problem is studied for a class of multi-input multi-output(MIMO) nonlinear systems with unknown parametric uncertainties. The design methods of passive adaptive controllers for the class of systems are discussed respectively when unknown constant parametric matrixes of control input are positive definite and general matrixes. The passive adaptive controllers and parameter adaptive laws are presented under two kinds of conditions. Under certain assumption conditions, the controller designed can render the closed-loop system composed of the original system and controllers designed passive. It is proved that adaptive controllers proposed can guarantee the stability of the class of systems via Lyapunov method. In the end, a simulation example is given to show the effectiveness and feasibility of the proposed method.