In this paper, we propose a passivity monitor which evaluates stability of a system based on the concept of passivity, and a software limiter which turns the system stable if it is originally unstable. It is shown that asymptotic stability will be guaranteed for arbitrary robots with arbitrary control schemes and environments, even if their properties are unknown. The validity of the passivity ...

Feedback connection of (strict) passive systems with multiplicative disturbance on the input of one of systems is considered. Series of conditions are proposed, which provide (strict) passivity property for overall system. These conditions enlarge result from Hill, and Moylan (1977), where passivity property of such connection was established. Applications of proposed results to backstepping co...

In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port delayed network system, by separatin...

We consider the problem of passivity control for a kind of T-S fuzzy system in the literature [1].We will extend it to the uncertain T-S fuzzy descriptor systems with time-delay in this paper. Generally speaking, a mathematical model cannot be used to exactly describe a dynamical system in practice because it is inevitable to include some degrees of uncertainties in the systems. Moreover, time-...

passive system cannot deliver more energy than what is stored. Typically, a passive system delivers less than what is stored since useful energy is invariably and irreversibly lost through friction and other dissipative processes that convert useful work into heat. Such properties show that passivity is related to principles used to develop mathematical models for all kinds of physical systems....

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 varies depending on factors such as congestion, bandwidth, or distance. The well-known scattering formalism introduced in (Anderson and Spong, 1989) preserves passivity of t...

Human controllers as pilots or drivers can be described by linear time invariant systems cascaded with time delay. Inspired by this, we ‘generalize’ the definition of passivity index to irrational transfer functions and use the passivity index to examine passivity of some existing human models. The results show that the human model is non-passive due to the time delay which represents inherent ...

In bilateral telemanipulation algorithms based on enforcing time-domain passivity, internal friction in the devices poses an additional energy drain. This can severely decrease the obtainable transparency of these algorithms when high amounts of friction are present in the slave device. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy bala...

This presentation focuses on passivity-based control methods for hybrid systems. This includes a summary of previous definitions of passivity and dissipativity for switched systems. This framework allows for the generalization of passivity index theory to this important class of hybrid systems. It is a method of quantifying the level of passivity of a given system and is closely related to coni...

The behavior of the passive walker [1] is governed by its dynamics, and therefore, walking velocity cannot be controlled. On the other hand, a hip joint of a human is driven by an antagonistic pair of muscles, and its passivity seems to contribute to his/her behavior. In this paper, we propose to control walking velocity of a pneumatic actuated biped by changing hip passivity. We can control hi...