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...

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...

A negative feedback interconnection consisting of two causal, nonlinear systems is shown to be input–output stablewhen a ‘‘mixed’’ small gain and passivity assumption is placed on each of the systems. The ‘‘mixed’’ small gain and passivity property captures the well-known notions of passivity and small gain associated with systems: the property can be appropriately reduced to an input and outpu...

This letter presents a passivity-based inverse dynamics (ID) controller using global energy tank. The proposed control approach allows us to achieve safe multi-contact scenario on torque controlled humanoid robot. is primarily task space ID quadratic programming (QP) which efficiently computes the reference satisfying non-hierarchical set of tasks. Our work extends this by adding tank modulatin...

This paper focuses on the problem of finite-time boundedness and finite-time passivity of discrete-time T-S fuzzy neural networks with time-varying delays. A suitable Lyapunov--Krasovskii functional(LKF) is established to derive sufficient condition for finite-time passivity of discrete-time T-S fuzzy neural networks. The dynamical system is transformed into a T-S fuzzy model with uncertain par...

Integral Quadratic Constraints (IQC) are inequalities used to describe (partially) possible signal combinations within a given dynamical system. IQC offer a framework for abstracting ”challenging” (e.g. non-linear, time-varying, uncertain, or distributed) elements of dynamical system models to aid in rigorous analysis of robust stability and performance (more specifically, to establish L2 gain ...