An elementary prerequisite for haptic applications is to preserve stability. Numerous studies have been presented in the past dealing with ensuring stability for haptic interfaces. The passivity condition of Colgate et al. (1994; 1997) represents one of the most cited theoretical studies towards a common stability condition. Although ensuring passivity of haptic devices is a general approach, i...

This paper is concerned with the stabilization of nonholonomic systems in port-controlled Hamiltonian formulae via generalized canonical transformations. A special class of timevarying generalized canonical transformations are introduced which preserves the passivity property. Utilizing this transformation timevarying asymptotically stabilizing controllers for the nonholonomic Hamiltonian syste...

This paper deals with the control and the estimation of the visual feedback systems with a fixed camera. Firstly the fundamental representation and the nonlinear observer for the visual feedback system with four coordinate frames is established. Secondly the visual feedback system is composed by the control error system and the estimation error system. Next, we derive the passivity of the visua...