In this paper, passive uncertainties are introduced and we deal with the robust passive observer-based control problem for a class of singular systems, and then provide the sufficient conditions of the passive control for the closed-loop systems of this kind of systems, whose controller is based on observer. Finally two numerical examples are provided to show the usefulness and the feasibility ...

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...

by Nicholas E. Kottenstette This dissertation shows how to develop wireless networked embedded control systems (wnecs) in which the controller and the plant are isolated and can only interact over a wireless network. Many of the new results presented are based on passivity and scattering theory. In particular we show how to: 1. synthesize discrete time passive, strictly-input passive, and stric...

An analytical investigation of a half-car model including passenger dynamics, subjected to random road disturbances is performed, and the advantage of active over conventional passive suspension systems are examined. Two diierent performance indices for optimal controller design are proposed. The performance index is a quantiication of both ride comfort and road handling. Due to practical limit...

First, the internal model principle is applied for plants that are passive nonlinear systems, to solve a disturbance rejection problem (without reference signal), where the exogeneous signal is a finite superposition of sine waves of arbitrary known frequencies. The proposed controller assures that both the state of the plant and the error signal converge to zero. Based on the above result, we ...

A method for multiple mode piezoelectric shunt damping will be presented in this paper. The proposed \current owing" shunt controller has a number of bene ts compared to previous shunt damping schemes; it is simpler to implement and requires small number of passive circuit elements. The passive control strategy is validated through experimentation on two piezoelectric laminated structures. c 20...

An effective wide band active control law through one kind of the Dynamic Vibration Absorber (DVA) is proposed and studied in this paper. With the help of mechanical impedance method, active DVA control law is formulated based on the passive mechanical model. The electrical DVA can generate multi-mode active damping to the structure. The host structure is an aluminum plate and acceleration sign...

In a recent paper we have shown how wave variables can be used to interconnect passive plants with passive controllers such that the system remains l-stable in spite of time varying delays and data dropouts. The present paper further enhances these results by providing a detailed model which captures time varying delays, data dropouts and network capacity for wireless ring token networks. It al...

Abstract. In this paper a four-dimensional hyperchaotic system with only one equilibrium is considered and it is shown how the control and the synchronization of this system can be realized via two different control techniques. Firstly, we propose a periodically intermittent controller to stabilize the system states to the equilibrium and to achieve the projective synchronization of the system ...