In this paper, the instability problem caused by constant power load in Buck converter is addressed. order to solve problem, a composite controller proposed. Due double loop structure of controller, passivity based control (PBC) adopted voltage track reference and make system stable, while simplified continuous set model predictive (CCS-MPC) selected as current reference. Moreover, improve robu...

In this note we analyse the (local) disturbance attenuation properties of some asymp-totically stabilizing nonlinear controllers for Euler-Lagrange systems reported in the literature. Our objective with this study is twofold: rst, to compare the performance of these schemes from a perspective diierent from stabilizability; second, to quantify the basic tradeoo between robust stability and robus...

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...

by RAVI HEBBAR For dynamically-interacting systems, such as a robot contacting an environment during an assembly operation or multiple robots collaborating in a manipulation task, issues of stability can be difficult to analyze. One very valuable tool is passivity analysis. If each dynamic subsystem (linear or nonlinear) satisfies the property of passivity with respect to its interaction port(s...

This paper presents a new architecture of control for micro-teleoperation system using a fault tolerant control (FTC) strategy to compensate for the degradation effects of piezoelectric-based microgipping system. The proposed strategy uses passivity approach for the bilateral controller and robust fault tolerant control (FTC) for the two-fingered microgripper system. First, the bilateral contro...

Many of today’s successful biped robots are controlled based on the Zero Moment Point (ZMP) method, which generates robust locomotion for flat-footed bipeds on a controlled environment. These controllers usually generate slow gaits with a low energy efficiency which do not look natural or human-like. In contrast, Passive Dynamic Walkers [2], [5] are fast, efficient and resemble human walking. M...

In this brief note we analyse the disturbance attenuation properties of some asymptotically stabilizing nonlinear controllers for Euler-Lagrange systems reported in the literature. Our objective with this study is twofold: rst, to compare the performance of these schemes from a perspective diierent from stabilizability; second, to quantify the basic tradeoo between robust stability and robust p...

In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port delayed network system, by separatin...

Passivity experiences are hallmark symptoms of schizophrenia that can be characterized by the belief that one's thoughts or actions are controlled by an external agent. It has recently been suggested that these psychotic experiences result from defective monitoring of one's own actions, i.e. disturbed comparison of actions and perceived outcomes. In this study, we examined the function of the p...