Application of Passivity Based Control for Partial Stabilization

In this paper, the problem of partial stabilization is considered for nonlinear control systems and a general approach for partial stabilization is proposed. In this approach, by introducing the notion of partially passive systems, some theorems for partial stabilization are developed. For this purpose, the nonlinear system is divided into two subsystems based on stability properties of system’s states. The reduced control input vector (the vector that includes components of input vector appearing in the first subsystem), is designed based on the new passivity based control theorems, in such a way to guarantee asymptotic stability of the nonlinear system with respect to the first part of states vector.