This paper focus on passivity and passive control for a cascade nonlinear system consisting of two switched systems. The asymptotic stability criterion for the cascade system is developed without requiring passivity of subsystem in the whole state interval. Passivity and stabilisation of the closed-loop system are achieved by co-designing an output feedback control law and a state-dependent switching signal if the full output information is measurable. While the output information of the first switched system are not available, the sampled integral stabilisation (SIS) technique which only adopts the output information and common energy function of the second one, is exploited to achieve passive control of two switched systems connected in a cascade way. Then, a particular case of cascade system where only one passive switched system exists is stabilised via SIS technique. Finally, the validity of the developed results is demonstrated via a plane articulation arm example.

本文重点研究由两个开关系统组成的级联非线性系统的无源和无源控制。建立了级联系统的渐近稳定性判据，不需要子系统在整个状态区间的被动性。如果完整的输出信息是可测量的，则通过共同设计输出反馈控制律和状态相关的开关信号来实现闭环系统的无源性和稳定性。在第一个开关系统的输出信息不可用的情况下，利用采样积分稳定（SIS）技术，仅采用第二个开关系统的输出信息和公共能量函数，实现对串联连接的两个开关系统的被动控制大大地。然后，级联系统的一种特殊情况，其中仅存在一个无源开关系统，可通过 SIS 技术进行稳定。最后，通过平面关节臂示例证明了所开发结果的有效性。