Abstract— Time domain passivity control can be used to stabilize the time-delayed teleoperation by considering the communication channel as an active component and to design passivity controllers for it using recursive prediction of slave side energy. However the control actions by these passivity controllers result in large impulses thus degrading the performance of teleoperator. Energy deriva...

During the last two decades, important advances have been made in the field of bilateral teleoperation. Different techniques for performing stable teleoperation in non-ideal conditions have been developed, especially in a passivity framework. Until recently, however, no robust solutions for addressing this problem with variable delays and other drawbacks of packet-switched networks have been de...

We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system's open-loop dynamics with non-negligible inertial effects. The proposed passivity-based switching control law ensures that the robot's (x, y)-position enters into an arbitrarily small (as speci ed by user-designed error-bound) level set of a cer...

A control scheme for linear dynamically similar bilateral teleoperated manipulator system which ensures that the closed loop system is energetically passive is proposed. Energetic passivity implies that the teleoperated manipulator system is safe to interact with, and that the coupling between the system and any strictly passive environment is stable. The control objective is for the two manipu...

Some patients with schizophrenia present a related phenomenon in which they believe their limbs are under the control of an alien force (motor passivity).5 There are some attempts to elucidate the nature and mechanism of passivity phenomena (experiences that one’s conscious actions or thoughts have not been ‘willed’ by oneself) wich include the dysfunction of an internal self-monitoring system ...

In this paper, we extend the family of algorithms presented in Algorithms for identification of continuous time nonlinear systems. A passivity approach. In A. Isidori, F. Ramnabhi-Lagarrigue, & W. Respondek (Eds.), Nonlinear control in the year 2000, vol. 2 (pp. 13-44) Berlin: Springer; (Automatica 37 (2000) 469) for the identification of continuous time nonlinear plants operating in closed loo...

This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed optimization scheme is proposed. In particular, the gradient descent method minimizes the global objective function while the dual ascent method maximizes the...

We show that the negative feedback interconnection of two causal, stable, linear time-invariant systems with a “mixed” small gain and passivity frequency domain property is guaranteed to be finite-gain stable. This “mixed” small gain and passivity property refers to the characteristic that the frequency range −∞ < ω < ∞ can be divided into intervals for which the two systems in the interconnect...

Some important features and implications of dissipativity and passivity properties in the discrete-time setting are collected in this paper. These properties are mainly referred to as the stability analysis (feedback stability systems and study of the zero dynamics), the relative degree, the feedback passivity property, and the preservation of passivity under feedback and parallel interconnecti...

This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After ...