Krasovskii and shifted passivity based output consensus

Output Feedback Passivity Based Controllers for Dynamic Positioning of Ships

Continuous-time quantized consensus: Convergence of Krasovskii solutions

This note studies a network of agents having continuous-time dynamics with quantized interactions and time-varying directed topology. Due to the discontinuity of the dynamics, solutions of the resulting ODE system are intended in the sense of Krasovskii. A limit connectivity graph is defined, which encodes persistent interactions between nodes: if such graph has a globally reachable node, Kraso...

Conditions on Shifted Passivity of Port-Hamiltonian Systems

In this paper, we examine the shifted passivity property of port-Hamiltonian systems. Shifted passivity accounts for the fact that in many applications the desired steady-state values of the input and output variables are nonzero, and thus one is interested in passivity with respect to the shifted signals. We consider port-Hamiltonian systems with strictly convex Hamiltonian, and derive conditi...

Output Consensus Control of Nonlinear Non-minimum Phase Multi-agent Systems Using Output Redefinition Method

This paper concerns the problem of output consensus in nonlinear non-minimum phase systems. The main contribution of the paper is to guarantee achieving consensus in the presence of unstable zero dynamics. To achieve this goal, an output redefinition method is proposed. The new outputs of agents are functions of original outputs and internal states and defined such that the dynamics of agents a...

Output Regulation in Differential Variational Inequalities using Internal Model Principle and Passivity-Based Approach

We consider the problem of designing state feedback control laws for output regulation in a class of dynamical systems where state trajectories are constrained to evolve within time-varying, closed, and convex sets. The first main result states sufficient conditions for existence and uniqueness of solutions in such systems. We then design a static state feedback control law using the internal m...