We present a novel control design procedure for the passivity-based stabilization of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilization. The procedure is illustrated in four case studies of path following coordination for...

The paper presents passivity conditions for a class of stochastic Hopfield neural networks with state-dependent noise and with Markovian jumps. Our contributions are mainly based on the stability analysis of the class of stochastic neural networks considered, using infinitesimal generators of appropriate stochastic Lyapunov-type functions. The passivity conditions derived are expressed in terms...

A delay partitioning approach is introduced to solve problems of passivity and passification for continuous T-S fuzzy system with time delay. Our aim is to design a state feedback controller such that the resulting closed system is passive. By constructing a Lyapunov-Krasovskii functional, delay-dependent passivity/passification performance conditions are formulated in terms of linear matrix in...

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual systems and of differential passivity. We apply the method to the tracking control problem of flexible joints robots (FJRs) which are formulated in the port-...

We examine the influence of two specific negative emotions (i.e., sadness and anger) on consumers’ preference for an advertised product promoting either activity (e.g., exercise) or passivity (e.g., relaxation). On the basis of empirical distinctions between the level of activation accompanying sadness and anger, and drawing upon a mood-as-information perspective, we hypothesized that individua...

The celebrated small-gain approach to robust control only makes use of the gain information of uncertainty. This results in a limitation on the achievable control bandwidth in system design. On the other hand, the alternative passivity approach has only limited applications. To relax the limitations associated with small-gain and passivity approaches, we explore the possibility of utilizing bot...

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...

This paper investigates a passivity-based control (PBC) for DC Motor drive system with PWM. In the paper, the port-controlled Hamiltonian system with dissipation (PCHD) model of the system is built and the interconnection and damping assignment passivity-based control (IDA-PBC) method is used for the design of the controller. The system simulation model is built based on MATLAB/Simulink and the...

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port c...

This paper extends the generalized Hamiltonian method (GHM) [1], [2] and its half-size variant (HGHM) [2] to their S-parameter counterparts (called S-GHM and S-HGHM, respectively), for testing the passivity of S-parameter descriptorform models widely used in high-speed circuit and electromagnetic simulations. The proposed methods are capable of accurately detecting the possible nonpassive regio...