Abstract— Time domain passivity control can be used to stabilize the time-delayed teleoperation by considering the communication channel as an active component and to design passivity controllers for it using recursive prediction of slave side energy. However the control actions by these passivity controllers result in large impulses thus degrading the performance of teleoperator. Energy deriva...

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-...

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 considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After ...

The traditional strengths of passive theory can be further extended when applied to switched systems. Some background will be covered on this recent generalization of passivity using multiple storage functions. The passivity-based control application considered in this paper is in distributed systems. A constructive method is covered to solve the output synchronization problem for networked mec...

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...