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...

In this paper two new schemes for induction motor control are proposed and compared. Both approaches are based on the concept of adaptive passivity. First, a technique using the scheme of field oriented control (FOC) is proposed, and by means of an adaptive state feedback, a passive equivalent system is obtained. Furthermore, making use of the novel torque-flux control principle (TFCP), the pro...

Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) has been successfully applied to open loop conservative models, i.e. with no physical damping (e.g., friction) present. In a number of cases, in particular when I...

This paper describes a general passivity-based framework for the control of flexible joint robots. Recent results on torque, position, as well as impedance control of flexible joint robots are summarized, and the relations between the individual contributions are highlighted. It is shown that an inner torque feedback loop can be incorporated into a passivity-based analysis by interpreting torqu...

Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...

This paper discusses combined position and force control of telepresence systems with force feedback and time delay. Standard architectures use velocity/force control and well known passivity arguments. Disadvantageously, then the positions of the Human System Interface (HSI) and the teleoperator diverge in presence of disturbances, deteriorating transparency. In this paper a new method for imp...

BACKGROUND To test the hypothesis that certain psychotic symptomatology is due to a defect in self-monitoring, we investigated the ability of groups of psychiatric patients to differentiate perceptually between self-produced and externally produced tactile stimuli. METHODS Responses to tactile stimulation were assessed in three groups of subjects: schizophrenic patients; patients with bipolar...

Most of the industrial processes are basically Multi Input Multi Output (MIMO) system. In this paper a new combination of Spherical Conical Interacting Tank System (SCITS) which is a variable area nonlinear MIMO system is considered for study and various control algorithms based on Ziegler Nichol’s tuning method, Hagglund Astrom Robust tuning method, Fractional Order (FO) control and Passivity ...