Passivity, global stabilization and disturbance attenuation of weakly minimum-phase nonlinear uncertain systems with applications to mechatronic systems

Passivity and its applications to mechatronic systems have been widely investigated and continuously improved for many years. This paper presents methodologies for adaptive global stabilization and disturbance attenuation of a class of weekly minimum-phase nonlinear uncertain systems, which can be either of nonlinear affine or of relative degree 1. Adaptive passivity-based control (PBC) methods are developed to achieve adaptive stabilization and disturbance attenuation for the systems with some unknown but constant parameters. Sufficient conditions and state regulations are established for showing the closed-loop system to be globally stable. The merit and performance of the proposed methods are exemplified by conducting several simulations on a 2-linked manipulator. The developed techniques may be of interest to professionals working in the field of nonlinear passive control and its applications.