Robust passivity-based control of weakly minimum phase nonlinear uncertain systems: An application to manipulator

This paper presents robust passivity-based control (RPBC) laws for a class of weakly minimum phase nonlinear uncertain systems which can be either of nonlinear affine or relative-degree-1. The proposed RPBC laws contain two objectives: one is to passificate the controlled systems; the other is to asymptotically stabilize them. The sufficient conditions are also established for the proposed RPBC. The merit and performance of the proposed methods are exemplified by conducting several simulations on an example and a two-link manipulator. The developed techniques may be of interest to professionals working in the field of nonlinear passive control and its applications.