The issue of the robust exponential passivity analysis for uncertain neutral-type neural networks with mixed interval time-varying delays is discussed in this work. For our purpose, lower bounds are allowed to be either positive or zero adopting combination model transformation, various inequalities, reciprocally convex combination, and suitable Lyapunov–Krasovskii functional. A new criterion r...

This article presents a method for passivating the communication channel of a symmetric position-position teleoperation architecture on the time domain. The time domain passivity control approach has recently gained appeal in the context of timedelayed teleoperation because passivity is not established as a design constraint, which often forces conservative rules, but rather as a property which...

In this thesis a nonlinear model predictive control (NMPC) scheme is presented that is based on the concept of passivity. The proposed NMPC scheme takes advantage of the relationship between optimal control and passivity and the relationship between optimal control and model predictive control. This novel NMPC scheme, guaranteeing closedloop stability through the incorporation of a passivity-ba...

This paper deals with the problem of passivity analysis for stochastic neural networks with leakage, discrete and distributed delays. By using delay partitioning technique, free weighting matrix method and stochastic analysis technique, several sufficient conditions for the passivity of the addressed neural networks are established in terms of linear matrix inequalities (LMIs), in which both th...

This paper deals with the problem of Passivity analysis for neural networks with multiple time-varying delays subject to norm-bounded time-varying parameter uncertainties. The activation functions are supposed to be bounded and globally Lipschitz continuous. New passivity conditions are proposed by using Lyapunov-Krasovskii functionals and the free–weighting matrix method to relax the existing ...

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 proposes a nonlinear controller to extend the Zwidth of a haptic device. A time-domain passivity analysis of the Z-width diagram leads to the new haptic controller, which employs acceleration feedback. The passivity condition for one degree of freedom (1DOF) haptic interaction with a virtual wall via the proposed controller is derived using passivity theory in the frequency domain. T...

This paper proposes a novel passivity cascade technique (PCT)-based control for nonlinear inverted pendulum systems. Its main objective is to stabilize the pendulum’s upward states despite uncertainties and exogenous disturbances. The proposed framework combines estimation properties of radial basis function neural networks (RBFNs) with attributes framework. unknown terms system are estimated u...

The behavior of the passive walker [1] is governed by its dynamics, and therefore, walking velocity cannot be controlled. On the other hand, a hip joint of a human is driven by an antagonistic pair of muscles, and its passivity seems to contribute to his/her behavior. In this paper, we propose to control walking velocity of a pneumatic actuated biped by changing hip passivity. We can control hi...