Necessary and sufficient conditions for a class of dissipative nonlinear multiinput multi-output discrete-time systems are given. The conditions existing in the literature, addressed as Kalman-Yakubovich-Popov conditions, for the dissipative, passive or lossless cases, are derived from the proposed dissipativity characterization. Feedback passivity is solved for a class of multi-input multi-out...

  One of an important factor in the success of organizations is the efficiency of knowledge flow. The knowledge flow is a comprehensive concept and in recent studies of organizational analysis broadly considered in the areas of strategic management, organizational analysis and economics. In this paper, we consider knowledge flows from an Information Technology (IT) viewpoint. We usually have tw...

This paper is devoted to a unified approach to trajectory tracking control of nonholonomic port-controlled Hamiltonian systems via generalized canonical transformations. The key idea is to construct an error system, which describes the dynamics of the tracking error, by a passive port-controlled Hamiltonian system. This strategy works for both holonomic and nonholonomic port-controlled Hamilton...

Traditionally, research in robotics has focused primarily on control. However, an increasing body of research supports the notion that the structure and mechanical characteristics of the robot body, that is its morphology, play a crucial role in behavior generation and control. The morphology not only determines the kinematics and dynamics of the robot, and thereby the possible repertoire of be...

the problem of pole assignment, also known as an eigenvalue assignment, in linear discrete-time periodic systems in discs was solved by a novel method which employs elementary similarity operations. the former methods tried to assign the points inside the unit circle while preserving the stability of the discrete time periodic system. nevertheless, now we can obtain the location of eigenvalues ...

this paper is concerned with the consensus tracking problem of high order mimo nonlinear multi-agent systems. the agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. the communication network topology of agents is assumed to be a fixed undirected graph. a distributed adaptive control method is proposed to solve the consensus problem utilizing re...

in this paper, an observer based fuzzy adaptive controller (fac) is designed fora class of large scale systems with non-canonical non-affine nonlinear subsystems. it isassumed that functions of the subsystems and the interactions among subsystems areunknown. by constructing a new class of state observer for each follower, the proposedconsensus control method solves the problem of unmeasured sta...

Velocity field to draw’a circie Passive velocity field control (PVFC) was previously developed for mechanical systems which have strong coordination and must interact with the physical environment. Applications include teleoperated manipulators, contouring in machining and smart exercise machines. The methodology encodes tasks using time invariant desired velocity fields instead of the more tra...