In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port delayed network system, by separatin...

A new control scheme for induction motors is proposed in the present paper, applying the interconnection and damping assignment-passivity based control (IDA-PBC) method. The scheme is based exclusively on passivity based control, without restricting the input frequency as it is done in field oriented control (FOC). A port-controlled Hamiltonian (PCH) model of the induction motor is deduced to m...

This paper presents a passivity-based controller design capable of achieving autonomous obstacle avoidance for robot manipulators subject to joint position and joint rate constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The final control Lyapunov function is remini...

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces systems to exponentially stabilize system at desired equilibrium even in presence matched disturbances; additionally, show robust against unmatched disturbances. Furthermore, provide tuning rules prescribe performan...

In this brief note we analyse the disturbance attenuation properties of some asymptotically 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 robust p...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

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...

Servo applications (regulation and tracking) are an important class of tasks for robots. Robustness in a servo controller must be guaranteed when the robot manipulator operates in an uncertain environment to ensure the stability and performance in the presence of uncertain robot manipulator dynamics, objects to be manipulated by the robot, and obstacles to be avoid. Also, robots must have sensi...

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...