This paper is concerned with the stabilization of nonholonomic systems in portcontrolled Hamiltonian formulae based on time-varying generalized canonical transformations. A special class of time-varying generalized canonical transformations are introduced which modify the kinetic energy of the original system without changing the generalized Hamiltonian structure with passivity. Utilizing these...

We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by 'passivity based' control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.

in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

In this paper, we apply the interconnection and damping assignment passivity—based control design technique to the underactuated mechanical system called pendubot. The proposed control system drives a class of pendubot systems to the upward configuration, starting from a neighborhood of this configuration. Simulation results show the performance of the proposed control system.

Abstract This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared of kinematically-redundant robots. The proposed method can be seen as extension state-of-the art hierarchical whole-body it allows some the tasks to commanded by remotely-located human operator through haptic device while others are autonomously performed. is able sw...

This paper presents a robust passivity-based control (RPBC) strategy for half-wave zero-voltage switching quasi-resonant (HW-ZVS-QR) buck and boost type converters. The proposed controller is based on energy shaping damping injection. Theoretical analysis shows that the resulted closed-loop HW-ZVS-QRs are globally asymptotically stabilised even if physical constraint magnitude of signal taken i...

The relationships between 15 personality traits relevant for personalityhealth research were examined as well as their relationships with five-factor personality traits and two higher order alpha and beta factors. Factor analysis of the 15 healthrelated personality concepts yielded three broad components: Negative affectivity, Optimistic control and Passivity. Results indicate that three health...

In this paper a trilateral Multi-Master-Single-Slave-System with control authority allocation between two human operators is proposed. The authority coefficient permits to slide the dominant role between the operators. They can simultaneously execute a task in a collaborative way or a trainee might haptically only observe the task, while an expert is in full control. The master devices are conn...