Adaptive and Robust Passivity-Based Stabilization of a Class of Nonholonomic Mechanical Systems

Abstract

We present novel passivity-based stabilization control frameworks for a class of nonholonomic mechanical systems with uncertain inertial parameters. Passive configuration decomposition is first applied to configuration-level decompose the system's Lagrange-DAlembert dynamics into two separate systems. Each of these decomposed systems evolves on its respective configuration space and individually inherits Lagrangian structure and passivity from the original dynamics. Utilizing the nonlinearity and passivity of the decomposed dynamics, we then derive adaptive passivity-based time-varying control (APBVC) and robust passivity-based switching control (RPBSC) schemes, which adopt the concepts of adaptive control and sliding-mode control respectively to achieve stabilization for this certain class of nonholonomic mechanical systems. Both simulation and experimental results are provided to verify our proposed control frameworks.