In previous papers, a passive control implementation structure is proposed for mechanical systems interacting with physical environments. The proposed implementation structure enforces robust passivity of the closed-loop system, i.e. passivity is ensured in the presence of inaccurate force sensing and model uncertainties. In this paper, we conduct experiments to validate and demonstrate this ro...

Passivity is a fundamental property of many physical systems which may be roughly defined in terms of energy dissipation and transformation. It is an inherent Input-Output property in the sense that it quantifies and qualifies the energy balance of a system when stimulated by external inputs to generate some output. Passivity is therefore related to the property of stability in an input-output ...

Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on...

This paper generalizes the Time Domain Passivity Control concept originally introduced by J.-H. Ryu et al. (2004) in order to work for multi-degree of freedom (DoF) haptic systems with time delay. Its energy computation (named passivity observer) factors in the phase shift caused by time delay, and is improved by an energy estimation. Moreover, the variable damping of the passivity controller i...

Schizophrenic patients experiencing passivity phenomena believe their thoughts and actions to be those of external, or alien, entities. We wished to test the hypothesis that voluntary motor action in such patients would be associated with aberrant patterns of activation within the cerebral motor system. We used H2(15)O PET to study patients while they performed paced joystick movements on two o...

In view of the control problem of Permanent magnet linear synchronous motor (PMLSM), applying port-controlled Hamiltonian (PCH) systems and passivity -based control theory, the modeling of Permanent Magnet Linear Synchronous Motor is presented. Using energy-shaping and passivity-based control (PBC) method, the control principle of PMLSM is given. The control laws are presented in load known con...

In this paper, passivity and passivation problems for event-triggered feedback interconnected systems are addressed. We consider passivity in two event-triggered control schemes based on the location of the event-triggered samplers: sampler at plant output and sampler at controller output. For both schemes, we first derive the conditions to characterize the level of passivity for the interconne...

In this article, our objective is to develop novel passivity-based control techniques by introducing a new passivity concept named Krasovskii passivity . As preliminary step, we investigate the properties of Krasovskii passive systems and establish relations among four relevant concepts includi...