In this article, our objective is to develop novel passivity-based control techniques by introducing a new passivity concept named Krasovskii passivity . As preliminary step, we investigate the properties of Krasovskii passive systems and establish relations among four relevant concepts includi...

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...

This report covers open-loop conditions that guarantee closed-loop stability of a feedback interconnection of two systems. The traditional solutions for this problem are passivity theory and the small gain theorem. These approaches can be shown to be part of a larger design framework. Two such larger frameworks are the conic systems framework and the passivity index framework. This report shows...

In previous papers, a passive control implementation structure is proposed for mechanical systems interacting with physical environments. The proposed implementation structure enforces robust passivity of the closed-loop system, i.e. passivity is ensured in the presence of inaccurate force sensing and model uncertainties. In this paper, we conduct experiments to validate and demonstrate this ro...

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...

This paper is devoted to the robust stabilization and passivity of general uncertain nonlinear systems. It is first proved that the unforced system has a unique local solution with any initial value in some neighborhood of the origin. Some properties of robust passive systems are obtained. Based on these properties, it is verified that under some conditions robust passivity of the uncertain sys...

this paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. the given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. moreover, robust control laws are designed to guarantee the practical stability of the perturbe...

This article presents a method for passivating the communication channel of a symmetric position-position teleoperation architecture on the time domain. The time domain passivity control approach has recently gained appeal in the context of timedelayed teleoperation because passivity is not established as a design constraint, which often forces conservative rules, but rather as a property which...

In this thesis a nonlinear model predictive control (NMPC) scheme is presented that is based on the concept of passivity. The proposed NMPC scheme takes advantage of the relationship between optimal control and passivity and the relationship between optimal control and model predictive control. This novel NMPC scheme, guaranteeing closedloop stability through the incorporation of a passivity-ba...