The super node algorithm performs model order reduction based on physical principles. Although the algorithm provides us with compact models, its stability and passivity have not thoroughly been studied yet. The loss of passivity is a serious problem because simulations of the reduced network may encounter artificial behavior which render the simulations useless. In this paper we explain why th...

This paper presents a passivity-based controller design capable of achieving autonomous obstacle avoidance for robot manipulators subject to joint position and joint rate constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The final control Lyapunov function is remini...

POMDPs are a useful model for decision making in systems with uncertain states. One of the core tasks in a POMDP is the monitoring task, in which the belief state (i.e. the probability distribution over system states) is updated based on incomplete and noisy observations. This can be a hard problem in complex real-world systems due to the often very large state space. In this article, we explor...

The goal of this paper is to introduce a methodology to preserve the passivity of a continuous time system under discretization. The authors define a new output that allows to preserve the passivity of the continuous system in its discrete counterpart with the same storage function. First the authors give a general definition of the output and then they specialize it for linear systems. The res...

In this paper, we generalize the classical definition of passivity to discrete-time periodically controlled nonlinear systems that are open loop nonpassive and closed-loop feedback passive. In the classical passivity theory, a system is said to be passive if there exists a storage function such that the increase in storage function is bounded by the energy supplied to it at every time step. Thi...

Trilateral haptic systems can be modeled as threeport networks. Analysis of coupled stability of a three-port network can be accomplished in either the passivity or the absolute stability frameworks assuming all three ports are connected to passive but otherwise unknown terminations. This paper first introduces our recent results in terms of extending Raisbecks passivity criterion and Llewellyn...

In many applications that require physical interaction with humans or other physical environments, passivity is a useful property to have in order to improve safety and ease of use. Many hydraulic applications (e.g. a human operated excavator) fall into this category. In a previous work, the passivity property of a directional hydraulic flow control valve, and methods for making the valve in a ...

This paper presents a class of passivity-based cooperative control problems that have an explicit connection to convex network optimization problems. The new notion of maximal equilibrium independent passivity is introduced and it is shown that networks of systems possessing this property asymptotically approach the solutions of a dual pair of network optimization problems, namely an optimal po...

BACKGROUND To test the hypothesis that certain psychotic symptomatology is due to a defect in self-monitoring, we investigated the ability of groups of psychiatric patients to differentiate perceptually between self-produced and externally produced tactile stimuli. METHODS Responses to tactile stimulation were assessed in three groups of subjects: schizophrenic patients; patients with bipolar...

The notions of passivity and positive realness are fundamental concepts in classical control theory, but the use of the terms has varied. For LTI systems, these two concepts capture the same essential property of dynamical systems, that is, a system with this property does not generate its own energy but only stores and dissipates energy supplied by the environment. This paper summarizes the co...