This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is analyzed. Then the control system is designed based on the energy shaping plus damping approach. We ...

It is an essential step in decomposition algorithms for radical differential ideals to satisfy the so-called Rosenfeld property. Basically all approaches to achieve this step are based on one of two concepts: Coherence or passivity. This paper gives a modern treatment of passivity. The theorem by Li and Wang stating that passivity implies coherence is extended to a broader setting. A new defini...

In many applications that require physical interaction with humans or other physical environments, passivity is a useful property to have in order to improve safety and ease of use. Many mechatronic applications (e.g. teleoperators, robots that interact with humans) fall into this category. In this paper, we develop an approach to design passifying control laws for mechatronic components from a...

By introducing sliding mode predictive control (SMPC) techniques, a controller with passivity of a class of discrete-time uncertain singular systems is proposed in this paper. A new switching surface function is designed by taking the singular matrix into account, thus the resulting sliding mode dynamics is a full-order uncertain singular time-varying delay system. Due to feedback correction an...

Individuals with schizophrenia, particularly those with passivity symptoms, may not feel in control of their actions, believing them to be controlled by external agents. Cognitive operations that contribute to these symptoms may include abnormal processing in agency as well as body representations that deal with body schema and body image. However, these operations in schizophrenia are not full...

As vividly illustrated by the quintessential Watt’s governor a natural procedure to modify the behavior of a dynamical system is to interconnect it with another dynamical system. Examples of this approach abound in modern high–performance practical applications and are proven to be very robust and reliable. These include, among many others, mechanical suspension and flapper systems, flotation d...

Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many passivity-based are designed in continuous-time. It is well-known, however, that the passivity properties of continuous-time systems may be lost under discretization. In this letter, we present a novel stabilizing scheme by ensuring discrete-time directly and thus avoiding issue p...

This paper proposes general eigenvalue-based passivity tests for descriptor state space systems, extending the already available tests for standard state space systems. Generalized eigenvalue tests are proposed to identify passivity violations in the positive-real and bounded-real cases. The important practical case of singular descriptor state space systems is also treated. The proposed passiv...

Passivity index is defined in terms of an excess or shortage of passivity, and it has been introduced in order to extend the passivity-based stability conditions to the more general cases for both passive and non-passive systems. In this report, we revisit the secant criterion literature results from the perspective of passivity indices. While most of the passivity-based stability results in li...

We propose a novel passivity-enforcing tele-driving control framework, which will enable a human operator to stably tele-control a unicycle-type wheeled mobile robot (WMR) over communication network with constant delays while having some useful haptic force-feedback. We consider both the case of kinematic and dynamic WMRs. Our main objective is to enable human users to tele-drive the WMR as the...