Stabilization of closed sets for passive systems, part II: Passivity-based control

In this paper we explore the stabilization of closed invariant sets for passive systems, and present conditions under which a passivity-based feedback makes the set stable, semi-attractive, or semi-asymptotically stable for the closed-loop system. Our results rely on novel reduction principles, presented in Part I of this work. As an application of the theory, we present a coordination problem for two unicycles.