Passivity-based Approach to Problems of Robust Spatial Motion Control
Abstract
The paper addresses problems of analysis and control of spatial behavior of uncertain dynamical systems associated with properties of invariance andattractivity of smooth geometric objects (goal sets). The use of geometric control theory and inequalities of passivity allows one to reduce the problemsto input-to-state stability with respect to part of the variables, constructLyapunov-like storage functions and propose simplified local solutions.On this basis, design procedures, static and dynamic control laws, ensuringthe desired properties of spatial dynamics, are proposed.
