This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoperation. The problem is motivated by the increasing use of the Internet as a communication medium where the time delay is variable depending on factors such as congestion, bandwidth, or distance. The well-known scattering formalism introduced in [1] preserves passivity of the communication c...

In this paper, we address a class of distributed optimization problems in the presence of inter-agent communication delays based on passivity. We first focus on unconstrained distributed optimization and provide a passivity-based perspective for distributed optimization algorithms. With the help of the scattering transformation, this perspective allows us to handle arbitrary and unknown constan...

The problem of delay-dependent exponential passivity analysis is investigated for neural networks with time-varying delays. By use of a linear matrix inequality (LMI) approach, a new exponential passivity criterion is proposed via the full use of the information of neuron activation functions and the involved time-varying delays. The obtained results have less conservativeness and less number o...

Given two nonlinear systems which only violate incremental passivity when their gains are sufficiently small, we give a condition for negative feedback interconnection to have finite gain, generalizes the small gain and theorems. The property may be determined graphically by plotting Scaled Relative Graphs (SRGs) of systems, provides engineering significance mathematical result.