No abstract

No abstract

No abstract

In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback asymptotically stabilizes the goal set. Our results rely on novel reduction principles allowing one to extrapolate the properties of stability, attractivity, and asymptotic stability of a dynamical system from analogous properties of the system on an invariant subset of the state space. * The authors are with the

No abstract

We present a novel control design procedure for the passivity-based stabilisation of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilisation. The procedure is illustrated in four case studies of path following coordination for one or two kinematic unicycles, and variations of these problems. Among other things, we present a smooth global path following controller making the unicycle converge to an arbitrary closed and strictly convex curve, and a coordinated path following controller for two unicycles.

We address the maneuver regulation of the kinematic unicycle to a circle. Our control approach is passivitybased, and we frame the control design objective as a set stabilization problem. We present two main results. First, we provide a smooth, time-invariant, static feedback that globally asymptotically stabilizes the motion on the circle in a desired direction and constant velocity. Second, we provide a smooth time-varying feedback that almost globally asymptotically stabilizes the set of configurations corresponding to the unicycle centre of mass on the circle with desired heading on the circle.

We investigate the stabilization of closed sets for passive nonlinear systems which are contained in the zero level set of the storage function.