the control law (3) does not only improves the transient performance, but also provides smoother outputs. It is important to stress that a better performance can still be achieved with (28) and (30). However, as discussed in Remark IV.1, increasing gains would not only cause more peaks in the outputs, but it might also yield saturation, especially for 2. V. CONCLUSION The tracking control probl...

In this paper, a novel approach for control of the DC-DC buck converter in high-power and low-voltage applications is proposed. Designed method is developed according to passivity based controller which is able to stabilize output voltage in a wide range of operation. It is clear that in high-power applications, parasitic elements of the converter may become comparable with load value and hence...

Nonlinear system online identification via dynamic neural networks is studied in this paper. The main contribution of the paper is that the passivity approach is applied to access several new stable properties of neuro identification. The conditions for passivity, stability, asymptotic stability, and input-to-state stability are established in certain senses. We conclude that the gradient desce...

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...

This paper investigates passivity-based visual feedback pose regulation whose goal is to control a vision camera pose so that it reaches a desirable configuration relative to a moving target object. For this purpose, we present a novel visual feedback estimation/control structure including a vision-based observer called visual motion observer under the assumption that a pattern of the target mo...

Disturbance observer based robot control algorithms provide good control performance while giving a straightforward method of gain selection. Unfortunately, the stability of these algorithms has not been shown rigorously for nonlinear systems such as robots. This paper demonstrates that a disturbance observer based algorithm can be made equivalent to the well-known passivity-based approaches of...