We address the problem of robust stabilisation of nonlinear systems a!ected by time-varying uniformly bounded (in time) a$ne perturbations. Our approach relies on the combination of sliding mode techniques and passivity-based control. Roughly speaking we show that under suitable conditions the sliding mode variable can be chosen as the passive output of the perturbed system. Then we show how to...

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid join...

Abstract This paper studies the robust stability of teleoperation systems based on the 2-channel force-force (FF) control architecture, modelled by frequency domain or passivity techniques. More precisely, delay-dependent conditions are given as LMIs derived from Lyapunov-Krasovskii functionals. We show that the teleoperation systems are stable under specific LMI conditions. This stability is g...

Digital waveguides are generalized to the multivariable case with the goal of maximizing generality while retaining robust numerical properties and simplicity of realization. Multivariable complex power is defined, and conditions for “medium passivity” are presented. Multivariable complex wave impedances, such as those deriving from multivariable lossy waveguides, are used to construct scatteri...

 Two passivity-based controllers and an input-output linearization controller for current-fed saturated induction motors are presented. Advantages and disadvantages of the controllers are discussed. Finally, experimental results obtained with one of the passivity-based controllers are presented.

We address the discrete-time passivity-based control laws synthesis within port-Hamiltonian framework. We focus on IDA-PBC design for canonical port-Hamiltonian systems with separable energy being quadratic in momentum. For this class of systems, we define a discrete Hamiltonian dynamics that exactly satisfies a discrete energy balance. We then derive a discrete controller following the IDA-PBC...

In the rotor reference frame, the input-output linearization theory was adopted to decouple the rotor position and rotor flux. We then designed two adaptation laws to estimate the rotor resistance and mechanical parameters of the motor. The passive properties of the negative feedback connection from the rotor flux observer to the rotor resistance estimator, and the position controller were anal...

The input passivity and output passivity are investigated for a generalized complex dynamical network, in which the coupling may be nonlinear, time-varying, and nonsymmetric. By constructing some suitable Lyapunov functionals, some input and output passivity criteria are derived in form of linear matrix inequalities LMIs for complex dynamical network. Finally, a numerical example and its simula...

This paper considers the position control problem of nonholonomic mobile robots with plant uncertainties and external disturbances. A robust passivity-based controller using fuzzy logic is proposed based on the reduced-form dynamic model of nonholonomic systems. The fuzzy logic system, whose parameters are tuned on-line, is introduced to learn the unknown (uncertain) plant dynamics due to the u...