In this paper,we show that the state space spanned by the intensive variables such as temperature and pressure is isomorphic to that spanned by extensive variables such as the mass and energy inventories for a single component process system. Then we propose a state space model for power plants, which uses the mass and energy inventories as state variables, and has an affine structure in the co...

This paper provides a new approach to decentralized failure-tolerant control using passivitybased stability conditions. A controller design method is developed to achieve both decentralized unconditional stability (a transformed passivity condition) and user-specified H2 performance. The control synthesis problem is solved by using successive semidefinite programming. The proposed method is ill...

This paper investigates passivity-based visual feedback pose regulation whose goal is to control a vision camera pose so that it reaches a desirable configuration relative to a moving target object. For this purpose, we present a novel visual feedback estimation/control structure including a vision-based observer called visual motion observer under the assumption that a pattern of the target mo...

A patent pending, energy based, method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indica...

Several interaction control algorithms have been proposed for physical human-robot interaction (pHRI) with the aim of assisting human movements. Some example are “path control” [4], “virtual model control” [7], “clime” [9] or gravity compensation [5], [3]. This class of algorithms is often built upon a force/torque controller that is supposed to be ideally fast. However when the algorithm is im...

This paper is devoted to trajectory tracking control of port-controlled Hamiltonian systems based on generalized canonical transformations. A general framework of tracking control utilizing the passivity property is proposed. Firstly, it is shown how to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. Secondly, a pra...

This paper presents an acoustic impedance control architecture for electroacoustic absorber combining both feedforward and feedback microphone-based strategies on a current-driven loudspeaker. Feedforward systems enable good performance direct control. However, inaccuracies in the required actuator model can lead to loss of passivity, which cause unstable behaviour. The contribution allows bett...

Learned helplessness, the failure to escape shock induced by uncontrollable aversive events, was discovered half a century ago. Seligman and Maier (1967) theorized that animals learned that outcomes were independent of their responses-that nothing they did mattered-and that this learning undermined trying to escape. The mechanism of learned helplessness is now very well-charted biologically, an...

This paper presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. Such systems (modelled as n -port networks) have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. The criterion provides researchers with an analytical, closed-form, necessary and sufficient condition useful for both anal...