Zusammenfassung Es wird eine konstruktive Reglerentwurfsmethode für schaltende nichtlineare steuerungssaffine Systeme vorgestellt, die dem geschlossenen Regelkreis eine schaltende Port-Hamiltonsche Struktur mit gemeinsamer Energiefunktion zuweist und so (asymptotische) Stabilität der Ruhelage erzielt. Die Methode generiert alle schaltenden Zustandsrückführungen, welche die Strecke unter beliebi...

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....

Many of today’s successful biped robots are controlled based on the Zero Moment Point (ZMP) method, which generates robust locomotion for flat-footed bipeds on a controlled environment. These controllers usually generate slow gaits with a low energy efficiency which do not look natural or human-like. In contrast, Passive Dynamic Walkers [2], [5] are fast, efficient and resemble human walking. M...

In this paper, dynamic image-based visual servo control approach is designed for an underactuated flying robot tracking a moving target. The objective is to consider the full dynamics of the system to design a vision based controller. Passivity properties of dynamics of perspective image moments in virtual image plane, obtained using inertial information of the robot, are utilized to design a d...

We propose a novel switching control law for the posture stabilization of a wheeled mobile robot, that utilizes the (energetic) passivity of the system's open-loop dynamics with non-negligible inertial effects. The proposed passivity-based switching control law ensures that the robot's (x, y)-position enters into an arbitrarily small (as speci ed by user-designed error-bound) level set of a cer...

In this paper, passivity and passivation problems for event-triggered feedback interconnected systems are addressed. We consider passivity in two event-triggered control schemes based on the location of the event-triggered samplers: sampler at plant output and sampler at controller output. For both schemes, we first derive the conditions to characterize the level of passivity for the interconne...

Integral Quadratic Constraints (IQC) are inequalities used to describe (partially) possible signal combinations within a given dynamical system. IQC offer a framework for abstracting ”challenging” (e.g. non-linear, time-varying, uncertain, or distributed) elements of dynamical system models to aid in rigorous analysis of robust stability and performance (more specifically, to establish L2 gain ...

In this note we analyse the (local) disturbance attenuation properties of some asymp-totically stabilizing nonlinear controllers for Euler-Lagrange systems reported in the literature. Our objective with this study is twofold: rst, to compare the performance of these schemes from a perspective diierent from stabilizability; second, to quantify the basic tradeoo between robust stability and robus...